Quadrotor Control on SU(2)× R3with SLAM Integration

Marcus Greiff; Patrik Persson; Zhiyong Sun; Karl Astrom; Anders Robertsson

doi:10.1109/CCTA49430.2022.9966068

Quadrotor Control on SU(2)× R³with SLAM Integration

Marcus Greiff, Patrik Persson, Zhiyong Sun, Karl Astrom, Anders Robertsson

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2) × R3, and relate this result to a family of geometric tracking controllers on SO(3) × R3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed con-trol system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.

Original language	English
Title of host publication	2022 IEEE Conference on Control Technology and Applications, CCTA 2022
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	291-298
Number of pages	8
ISBN (Electronic)	9781665473385
DOIs	https://doi.org/10.1109/CCTA49430.2022.9966068
Publication status	Published - 2022
Event	2022 IEEE Conference on Control Technology and Applications, CCTA 2022 - Trieste, Italy Duration: 2022 Aug 23 → 2022 Aug 25

Conference

Conference	2022 IEEE Conference on Control Technology and Applications, CCTA 2022
Country/Territory	Italy
City	Trieste
Period	2022/08/23 → 2022/08/25

Subject classification (UKÄ)

Control Engineering

Access to Document

10.1109/CCTA49430.2022.9966068

Cite this

@inproceedings{31e193c7dacc4798bf79117c86730c76,

title = "Quadrotor Control on SU(2)× R3with SLAM Integration",

abstract = "We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2) × R3, and relate this result to a family of geometric tracking controllers on SO(3) × R3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed con-trol system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.",

author = "Marcus Greiff and Patrik Persson and Zhiyong Sun and Karl Astrom and Anders Robertsson",

year = "2022",

doi = "10.1109/CCTA49430.2022.9966068",

language = "English",

pages = "291--298",

booktitle = "2022 IEEE Conference on Control Technology and Applications, CCTA 2022",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2022 IEEE Conference on Control Technology and Applications, CCTA 2022 ; Conference date: 23-08-2022 Through 25-08-2022",

}

Greiff, M , Persson, P, Sun, Z, Astrom, K & Robertsson, A 2022, Quadrotor Control on SU(2)× R³with SLAM Integration. in 2022 IEEE Conference on Control Technology and Applications, CCTA 2022. IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 291-298, 2022 IEEE Conference on Control Technology and Applications, CCTA 2022, Trieste, Italy, 2022/08/23. https://doi.org/10.1109/CCTA49430.2022.9966068

Quadrotor Control on SU(2)× R³with SLAM Integration. / Greiff, Marcus ; Persson, Patrik; Sun, Zhiyong et al.

2022 IEEE Conference on Control Technology and Applications, CCTA 2022. IEEE - Institute of Electrical and Electronics Engineers Inc., 2022. p. 291-298.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Quadrotor Control on SU(2)× R3with SLAM Integration

AU - Greiff, Marcus

AU - Persson, Patrik

AU - Sun, Zhiyong

AU - Astrom, Karl

AU - Robertsson, Anders

PY - 2022

Y1 - 2022

N2 - We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2) × R3, and relate this result to a family of geometric tracking controllers on SO(3) × R3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed con-trol system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.

AB - We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2) × R3, and relate this result to a family of geometric tracking controllers on SO(3) × R3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed con-trol system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.

U2 - 10.1109/CCTA49430.2022.9966068

DO - 10.1109/CCTA49430.2022.9966068

M3 - Paper in conference proceeding

AN - SCOPUS:85144592093

SP - 291

EP - 298

BT - 2022 IEEE Conference on Control Technology and Applications, CCTA 2022

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 IEEE Conference on Control Technology and Applications, CCTA 2022

Y2 - 23 August 2022 through 25 August 2022

ER -