Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |

Antonelli13b

G. Antonelli, F. Arrichiello, S. Chiaverini, P. Robuffo Giordano. Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances. In IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, AIM 2013, Pages 1337-1342, Wollongong, Australia, July 2013.

Download [help]

Download paper: Doi page

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, Inria 2002-2015, Projet Lagadic

Abstract

The paper presents an adaptive trajectory track- ing control strategy for quadrotor Micro Aerial Vehicles. The proposed approach, while keeping the typical assumption of an orientation dynamics faster than the translational one, removes that of absence of external disturbances and of perfect symmetry of the vehicle. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments, and to the uncertainty of dynamic parameters as the position of the center of mass of the vehicle. A stability analysis as well as numerical simulations are provided to support the control design

BibTex Reference

@InProceedings{Antonelli13b,
   Author = {Antonelli, G. and Arrichiello, F. and Chiaverini, S. and Robuffo Giordano, P.},
   Title = {Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances},
   BookTitle = {IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, AIM 2013},
   Pages = {1337--1342},
   Address = {Wollongong, Australia},
   Month = {July},
   Year = {2013}
}

EndNote Reference [help]

Get EndNote Reference (.ref)

| Lagadic | Map | Team | Publications | Demonstrations |
Irisa - Inria - Copyright 2009 Lagadic Project