Backstepping Control on SE(3) of a Micro Quadrotor for Stable Trajectory Tracking.
Hyeonbeom LeeSuseong KimTyler RyanH. Jin KimPublished in: SMC (2013)
Keyphrases
- trajectory tracking
- control law
- closed loop
- control strategy
- control system
- control method
- sliding mode
- control theory
- wheeled mobile robots
- dynamic model
- visual servoing
- bi directional
- nonlinear systems
- iterative learning control
- iterative learning
- adaptive control
- control algorithm
- neural network controller
- control scheme
- variable structure
- physical constraints
- feedback control
- dynamical systems
- fuzzy logic
- lyapunov function
- optimal control
- fuzzy controller
- autonomous robots
- inverted pendulum
- tracking error
- stability analysis
- mathematical model
- motion planning
- desired trajectory
- fuzzy control