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Appl. Sci. 2017, 7(1), 13;

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

Génie Informatique, Sorbonne Universités, Université de Technologie de Compiègne, CNRS, Heudiasyc UMR 7253, CS 60319, Compiègne cedex 60203, France
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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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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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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