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 language | English |
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| Title of host publication | ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings |
| Place of Publication | Brussels |
| Publisher | IEEE Computer Society |
| Pages | 201-206 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-89-93215-11-3 |
| ISBN (Print) | 978-1-4673-9058-3 |
| DOIs | |
| Publication status | Published - 24 Jan 2017 |
| Event | 16th International Conference on Control, Automation and Systems (ICCAS 2016) - Gyeongju, Korea, Republic of Duration: 16 Oct 2016 → 19 Oct 2016 Conference number: 16 |
Conference
| Conference | 16th International Conference on Control, Automation and Systems (ICCAS 2016) |
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| Abbreviated title | ICCAS 2016 |
| Country/Territory | Korea, Republic of |
| City | Gyeongju |
| Period | 16/10/16 → 19/10/16 |
Bibliographical note
in conjunction with ACM Sigmetrics / IFIP Performance 2016Keywords
- Nonlinear control
- passivity
- quaternion