Intrinsic UDE control of mechanical systems on SO(3)

A. L.M.Sanka Liyanage, Jordan M. Berg, Beibei Ren, D. H.S. Maithripala

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The uncertainty and disturbance estimation (UDE) structure provides flexible and intuitive controller design for command following and disturbance rejection in uncertain linear and nonlinear systems. In this paper, an intrinsic UDE controller is demonstrated for fully-actuated mechanical systems on SO(3), the group of rigid-body rotations in three-dimensional Euclidean space. The controller is derived in a geometric framework, thereby avoiding issues arising from any particular set of coordinates. Simulations and experiments using a quadrotor test bed show that the controller can stabilize a desired equilibrium attitude in the presence of disturbances and parameter error.

Original languageEnglish
Title of host publicationAIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1653-1658
Number of pages6
ISBN (Electronic)9781467391078
DOIs
StatePublished - Aug 25 2015
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of
Duration: Jul 7 2015Jul 11 2015

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2015-August

Conference

ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
CountryKorea, Republic of
CityBusan
Period07/7/1507/11/15

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    Liyanage, A. L. M. S., Berg, J. M., Ren, B., & Maithripala, D. H. S. (2015). Intrinsic UDE control of mechanical systems on SO(3). In AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 1653-1658). [7222781] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2015-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2015.7222781