Passivity-based quaternion feedback control of a hover system

Remon Damen, Mahmut Reyhanoglu, William Mackunis, Jaime Rubio Hervas

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)

Abstract

A passivity-based quaternion feedback control strategy is presented for a hover system (quadrotor UAV test bed), which achieves asymptotic attitude regulation. The proposed control design incorporates the input voltage constraints inherent in practical UAV systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the complete nonlinear system dynamics.

Original languageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
Place of PublicationBrussels
PublisherIEEE Computer Society
Pages201-206
Number of pages6
ISBN (Electronic)978-89-93215-11-3
ISBN (Print)978-1-4673-9058-3
DOIs
Publication statusPublished - 24 Jan 2017
Event16th International Conference on Control, Automation and Systems (ICCAS 2016) - Gyeongju, Korea, Republic of
Duration: 16 Oct 201619 Oct 2016
Conference number: 16

Conference

Conference16th International Conference on Control, Automation and Systems (ICCAS 2016)
Abbreviated titleICCAS 2016
CountryKorea, Republic of
CityGyeongju
Period16/10/1619/10/16

Bibliographical note

in conjunction with ACM Sigmetrics / IFIP Performance 2016

Keywords

  • Nonlinear control
  • passivity
  • quaternion

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