@inproceedings{7ee07d9c44fc4a2daa727ab1c835d341,
title = "Geometric nonlinear PID control of a quadrotor UAV on SE(3)",
abstract = "Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of minimal attitude representations or ambiguity of quaternions. A new form of integral control terms is proposed to guarantee almost global asymptotic stability when there exist uncertainties in the quadrotor dynamics. A rigorous mathematical proof is given. Numerical example illustrating a complex maneuver, and a preliminary experimental result are provided.",
author = "Farhad Goodarzi and Daewon Lee and Taeyoung Lee",
year = "2013",
doi = "10.23919/ecc.2013.6669644",
language = "English (US)",
isbn = "9783033039629",
series = "2013 European Control Conference, ECC 2013",
publisher = "IEEE Computer Society",
pages = "3845--3850",
booktitle = "2013 European Control Conference, ECC 2013",
address = "United States",
note = "2013 12th European Control Conference, ECC 2013 ; Conference date: 17-07-2013 Through 19-07-2013",
}