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Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions

Abstract : In this paper the development and practical implementation of a Passivity-Based Control (PBC) algorithm to stabilize an Unmanned Aerial Vehicle (UAV) described with unit quaternions are presented. First, a mathematical model based on Euler-Lagrange formulation using a logarithmic mapping in the quaternion space is introduced. Then, a new methodology: a quaternion-passivity-based control is derived, which does not compute excessive and complex Partial Differential Equations (PDEs) for synthesizing the control law, making a significant advantage in comparison with other methodologies. Therefore, the control design to a system as the quad-rotor is easily solved by the proposed methodology. Another advantage is the possibility to stabilize quad-rotor full dynamics which may not be possible with classical PBC techniques. Experimental results and numerical simulations to validate our proposed scheme are presented.
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https://hal.archives-ouvertes.fr/hal-01679055
Contributor : Hernan Abaunza <>
Submitted on : Tuesday, January 9, 2018 - 4:24:00 PM
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Maria Guerrero-Sanchez, Hernan Abaunza, Pedro Castillo Garcia, Rogelio Lozano, Carlos Garcia-Beltran, et al.. Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions. Applied Sciences, MDPI, 2017, 7 (13), pp.1-17. ⟨10.3390/app7010013⟩. ⟨hal-01679055⟩

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