Abstract
In this paper the development and practical implementation of a Passivity-Based Control (PBC) algorithm to stabilize an Unmanned Aerial Vehicle (UAV) described with unit quaternions are presented. First, a mathematical model based on Euler-Lagrange formulation using a logarithmic mapping in the quaternion space is introduced. Then, a new methodology: a quaternion-passivity-based control is derived, which does not compute excessive and complex Partial Differential Equations (PDEs) for synthesizing the control law, making a significant advantage in comparison with other methodologies. Therefore, the control design to a system as the quad-rotor is easily solved by the proposed methodology. Another advantage is the possibility to stabilize quad-rotor full dynamics which may not be possible with classical PBC techniques. Experimental results and numerical simulations to validate our proposed scheme are presented.
Highlights
Many efforts have been made to model and control quad-rotor Unmanned Aerial Vehicles (UAVs).In recent years, a wide number of strategies have been developed to solve the stabilization problem for this type of system using different methodologies in terms of control techniques and modeling approaches, such as [1,2,3,4]
A quaternion-based nonlinear P2 controller, for solving the attitude problem of a quad-rotor is proposed in [5], the proposed control scheme performs very well with a very small overshoot and a very good reference tracking, only numerical simulations are presented to prove the efficiency of the suggested scheme
Motivated by the aforementioned considerations, in this work we introduce a methodology to analyze the quad-rotor vehicle using a passivity-based control with unit quaternions
Summary
Many efforts have been made to model and control quad-rotor Unmanned Aerial Vehicles (UAVs). For example in [17], the authors presented a nonlinear control technique based on passivity to solve the path tracking problem for the quad-rotor, but only one control loop was considered in their work. Observe in these works that it is not possible to use passivity-based strategies directly to control the vehicle’s full dynamics because certain passivity properties are not satisfied, i.e., when this methodology is used directly in the classical quad-rotors equations, only the attitude can be stabilized. IDA-PBC strategy is designed for underactuated systems It requires computing complex PDEs, many of which may have not solution. Motivated by the aforementioned considerations, in this work we introduce a methodology to analyze the quad-rotor vehicle using a passivity-based control with unit quaternions.
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