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Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions
- Source :
- Applied Sciences, Vol 7, Iss 1, p 13 (2016)
- Publication Year :
- 2016
- Publisher :
- MDPI AG, 2016.
-
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.
Details
- Language :
- English
- ISSN :
- 20763417
- Volume :
- 7
- Issue :
- 1
- Database :
- Directory of Open Access Journals
- Journal :
- Applied Sciences
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.18fd3aecc4c4c25a5186e847adc1049
- Document Type :
- article
- Full Text :
- https://doi.org/10.3390/app7010013