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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    Title :

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


    Contributors:


    Publication date :

    2018-07-01


    Size :

    5421209 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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