Passivity-based quaternion feedback control of a hover system

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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

4 Citaten (Scopus)

Samenvatting

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.

Originele taal-2Engels
TitelICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
Plaats van productieBrussels
UitgeverijIEEE Computer Society
Pagina's201-206
Aantal pagina's6
ISBN van elektronische versie978-89-93215-11-3
ISBN van geprinte versie978-1-4673-9058-3
DOI's
StatusGepubliceerd - 24 jan 2017
Evenement16th International Conference on Control, Automation and Systems (ICCAS 2016) - Gyeongju, Zuid-Korea
Duur: 16 okt 201619 okt 2016
Congresnummer: 16

Congres

Congres16th International Conference on Control, Automation and Systems (ICCAS 2016)
Verkorte titelICCAS 2016
LandZuid-Korea
StadGyeongju
Periode16/10/1619/10/16

Bibliografische nota

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