Abstract:
Based on the dual quaternion formalism, the dynamics of a fixed wing UAV are formulated for path tracking, by incorporating the nonlinear gyroscopic terms. A control stra...Show MoreMetadata
Abstract:
Based on the dual quaternion formalism, the dynamics of a fixed wing UAV are formulated for path tracking, by incorporating the nonlinear gyroscopic terms. A control strategy is developed by exploiting the logarithmic map of the unit dual quaternion so as to ensure asymptotic stability in the three-dimensional space. The control and stabilization of the UAV, is carried out using dual quaternion parameterized dynamics such that a state feedback control law comprising of a PD controller ensures the simultaneous attitude and position tracking. Simulation results are presented to illustrate the applicability of this integrated approach in the tracking of a three-directional path.
Published in: 2024 47th MIPRO ICT and Electronics Convention (MIPRO)
Date of Conference: 20-24 May 2024
Date Added to IEEE Xplore: 28 June 2024
ISBN Information: