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Appl. Sci. 2017, 7(1), 13; doi:10.3390/app7010013

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

1
Génie Informatique, Sorbonne Universités, Université de Technologie de Compiègne, CNRS, Heudiasyc UMR 7253, CS 60319, Compiègne cedex 60203, France
2
Department of Electronic Engineering, Centro Nacional de Investigacióny Desarrollo Tecnológico (CENIDET), Cuernavaca 62490, Mexico
*
Author to whom correspondence should be addressed.
Academic Editor: Chien-Hung Liu
Received: 31 October 2016 / Revised: 6 December 2016 / Accepted: 13 December 2016 / Published: 23 December 2016
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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. View Full-Text
Keywords: passivity-based control; micro air vehicle (MAV); quaternion; real-time validation; under-actuated systems passivity-based control; micro air vehicle (MAV); quaternion; real-time validation; under-actuated systems
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MDPI and ACS Style

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.

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