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Experimental Evaluation of a Full Quaternion Based Attitude Quadrotor Controller
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.
2015 (English)In: Proceedings of 2015 IEEE 20th International Conference on Emerging Technologies & Factory Automation (ETFA 2015): )Luxembourg, 8-11 Sept. 2015, Piscataway, NJ: IEEE Communications Society, 2015, 7301555Conference paper (Refereed)
Abstract [en]

The aim of this article is to present a novel quater- nion based control scheme for the attitude control problem of a quadrotor and experimentally evaluate its performance. 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 the novel contributions consist of: a) the quadrotor’s attitude model and b) the proposed non–linear Proportional squared (P^2) control algorithm, which have been proposed and experimentally evaluated fully in the quaternion space, without any transformations nor calculations in the Euler angle nor the DCM spaces. The established control scheme is combined with a quaternion based Madwick Complementary filter for estimating the attitude quadrotor’s responses. Multiple experi- mental results, including the case where external disturbances are acting on the quadrotor, are being presented for proving the efficiency and the robustness of the proposed novel quaternion based controller.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2015. 7301555
Series
, I E E E International Conference on Emerging Technologies and Factory Automation. Proceedings, ISSN 1946-0740
Keyword [en]
Information technology - Automatic control
Keyword [sv]
Informationsteknik - Reglerteknik
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-40146DOI: 10.1109/ETFA.2015.7301555ScopusID: 84952911042Local ID: f245ffd6-9dca-4c56-a317-4d6ebecdfe0aISBN: 978-1-4673-7929-8 (PDF)OAI: oai:DiVA.org:ltu-40146DiVA: diva2:1013669
Conference
IEEE International Conference on Emerging Technologies and Factory Automation : 08/09/2015 - 11/09/2015
Note
Validerad; 2016; Nivå 1; 20150622 (geonik)Available from: 2016-10-03 Created: 2016-10-03Bibliographically approved

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