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

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...