Stabilization and trajectory tracking of a subactuated aircraft based on a Geometric Algebra approach

A novel approach to the modeling and control of a subactuated aircraft is performed based on Geometric Algebra (GA) principles. The selected platform for analysis is a quad rotorcraft. The derived model leverages objects from GA, such as the rotor, to perform rotations, replacing the need for Euler...

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Bibliographic Details
Published in2023 American Control Conference (ACC) pp. 3233 - 3238
Main Authors Escamilla, Leonardo, Rodolfo Garcia Carrillo, Luis, Sandoval, Steven, Espinoza Quesada, Eduardo Steed
Format Conference Proceeding
LanguageEnglish
Published American Automatic Control Council 31.05.2023
Subjects
Aircraft navigation
Algebra
Atmospheric modeling
Attitude control
Quaternions
Rotors
Trajectory tracking
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Summary:A novel approach to the modeling and control of a subactuated aircraft is performed based on Geometric Algebra (GA) principles. The selected platform for analysis is a quad rotorcraft. The derived model leverages objects from GA, such as the rotor, to perform rotations, replacing the need for Euler angles and quaternions. Controllers, which operate exclusively on GA objects, are developed to regulate the altitude, attitude, and translation of the quad rotorcraft. Numerical examples, including way-point navigation and trajectory tracking, illustrate the feasibility of the GA approach.
ISSN:2378-5861
DOI:10.23919/ACC55779.2023.10156381