This paper presents a solution to the problem of flight control using a quaternion controller with a logarithmic mapping of the error quaternion. Specifically, the paper presents how to control fixed-wing UAVs using nonlinear control, and then compares a quaternion-based PD+ controller with a new quaternion-based controller exploiting the logarithmic map. The main finding is that the logarithmic mapping controller works well for flight control, and provides slightly better results than the PD+ control law.


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    Titel :

    Quaternion-based Control of Fixed-Wing UAVs Using Logarithmic Mapping


    Beteiligte:
    Oland, Espen (Autor:in)


    Erscheinungsdatum :

    01.07.2018


    Format / Umfang :

    5421209 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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