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.
Quaternion-based Control of Fixed-Wing UAVs Using Logarithmic Mapping
2018-07-01
5421209 byte
Conference paper
Electronic Resource
English
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