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Communication Dans Un Congrès Année : 2015

Quadrotor Dual Quaternion Control

Résumé

This paper introduces the design and practical validation of a quaternion control scheme to globally stabilize a quadrotor aerial vehicle. First an attitude control law is proposed to stabilize the vehicle’s heading, then a position control law is developed to stabilize the vehicle around a desired point. Using position references, a smooth trajectory is calculated for the attitude controller such that the position of the vehicle becomes stable. The proposed control algorithm allows a linear quadrotor system’s behavior. The closed-loop system is then numerically simulated to corroborate stability.
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Dates et versions

hal-01333365 , version 1 (17-06-2016)

Identifiants

  • HAL Id : hal-01333365 , version 1

Citer

Hernan Abaunza, Jossué Carino, Pedro Castillo Garcia, Rogelio Lozano. Quadrotor Dual Quaternion Control. Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015), Nov 2015, Cancun, Mexico. pp.195-203. ⟨hal-01333365⟩
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