This paper introduces the design and practical validation of a quaternion control scheme to globally stabilize a quadrotor aerial vehicle. First an attitude control law is proposed to stabilize the vehicle's heading, then a position control law is developed to stabilize the vehicle around a desired point. Using position references, a smooth trajectory is calculated for the attitude controller such that the position of the vehicle becomes stable. The proposed control algorithm allows a linear quadrotor system's behavior. The closed-loop system is then numerically simulated to corroborate stability.


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    Titel :

    Quadrotor dual quaternion control


    Beteiligte:
    Abaunza, H. (Autor:in) / Carino, J. (Autor:in) / Castillo, P. (Autor:in) / Lozano, R. (Autor:in)


    Erscheinungsdatum :

    01.11.2015


    Format / Umfang :

    286472 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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