Quadrotor Energy-Based Control Laws: a Unit-Quaternion Approach

• Published in: Journal of intelligent & robotic systems Vol. 88; no. 2-4; pp. 347 - 377
• Main Authors: Guerrero-Sánchez, M. E., Abaunza, H., Castillo, P., Lozano, R., García-Beltrán, C. D.
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.12.2017; Springer Nature B.V; Springer Verlag
• Subjects: Artificial Intelligence; Automatic Control Engineering; Computer Science; Computer simulation; Control; Control theory; Electrical Engineering; Energy consumption; Engineering; Liapunov functions; Mechanical Engineering; Mechatronics; Quaternions; Robotics; Unmanned aerial vehicles; Real-time validation; Lyapunov analysis; Energy-based control; Quaternion; Quadrotor; Energy control; quaternion approach; quadcopter
• ISSN: 0921-0296; 1573-0409
• DOI: 10.1007/s10846-017-0528-3

This article presents the designs, simulations and real-time experimental results of two energy-based control strategies to stabilize an Unmanned Aerial Vehicles (UAV) using a quaternion representation of the attitude. The mathematical model is based on Euler-Lagrange formulation using a logarithmic mapping in the quaternion space. The proposed solutions introduce a new approach: a quaternion-energy-based control, which use an energy-based expression defined as a Lyapunov function. The control laws are described with unit quaternions and their axis-angle representation. The proposed algorithms allow the stabilization of the quadrotor in all its states. The strategies ensure the stability of the closed loop system. Simulation results and experimental validations are developed to verify the effectiveness of the proposed controllers.