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Full quaternion based attitude control for a quadrotor
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2013 (English)In: European Control Conference (ECC), July 17-19, 2013, Zurich, Switzerland, 2013, 3864-3869 p., 6669617Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is to present a novel quaternion based control scheme for the attitude control problem of a quadrotor. A quaternion is a hyper complex number of rank 4 that can be utilized to avoid the inherent geometrical singularity when representing rigid body dynamics with Euler angles or the complexity of having coupled differential equations with the Direction Cosine Matrix (DCM). In the presented approach both the quadrotor's attitude model and the proposed non-linear Proportional squared (P^2) control algorithm have been implemented in the quaternion space, without any transformations and calculations in the Euler's angle space or DCM. Throughout the article, the merits of the proposed novel approach are being analyzed and discussed, while the efficacy of the suggested novel quaternion based controller are being evaluated by extended simulation results.

Place, publisher, year, edition, pages
2013. 3864-3869 p., 6669617
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-37449Scopus ID: 84893280561Local ID: b7c373fb-df19-45eb-a2f1-3a104b4ffb3dISBN: 978-3-952-41734-8 (print)OAI: oai:DiVA.org:ltu-37449DiVA: diva2:1010947
Conference
European Control Conference : 17/07/2013 - 19/07/2013
Note
Godkänd; 2013; 20130227 (geonik)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-10-19Bibliographically approved

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Fresk, EmilNikolakopoulos, George
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CiteExportLink to record
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