Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions
AbstractIn 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. View Full-Text
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Guerrero-Sanchez, M.E.; Abaunza, H.; Castillo, P.; Lozano, R.; Garcia-Beltran, C.; Rodriguez-Palacios, A. Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions. Appl. Sci. 2017, 7, 13.
Guerrero-Sanchez ME, Abaunza H, Castillo P, Lozano R, Garcia-Beltran C, Rodriguez-Palacios A. Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions. Applied Sciences. 2017; 7(1):13.Chicago/Turabian Style
Guerrero-Sanchez, Maria E.; Abaunza, Hernan; Castillo, Pedro; Lozano, Rogelio; Garcia-Beltran, Carlos; Rodriguez-Palacios, Alejandro. 2017. "Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions." Appl. Sci. 7, no. 1: 13.
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