Integrated Path Tracking, and Control of a Fixed Wing UAV based on Dual Quaternion Parameterized Dynamics

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.