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• [P1203] Robust Tracking Control of an Underactuated Quadrotor Aerial-Robot Based on a Parametric Uncertain Model
  Author(s): DongBin Lee, Timothy C. Burg, Darren Dawson, Dule Shu, Bin Xian, Enver Tatlicioglu
  
  

  Abstract
  In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajecotry tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic subsystem model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking result.

  
   

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