Passivity-Based Quaternion Feedback Control of a Hover System

Remon Damen; Mahmut Reyhanoglu; William MacKunis; Jaime Rubio Hervas

doi:10.1109/ICCAS.2016.7832321

Passivity-Based Quaternion Feedback Control of a Hover System

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

Physical Sciences

Research output: Contribution to conference › Presentation

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	American English
DOIs	https://doi.org/10.1109/ICCAS.2016.7832321
State	Published - Oct 2016
Event	16th International Conference on Control, Automation and Systems (ICCAS) - Gyeongju, South Korea Duration: Oct 1 2016 → …

Conference

Conference	16th International Conference on Control, Automation and Systems (ICCAS)
Period	10/1/16 → …

Keywords

quaternion feedback control system
quadrotor UAV

Disciplines

Aerospace Engineering
Navigation, Guidance, Control and Dynamics

Access to Document

10.1109/ICCAS.2016.7832321License: Unspecified

Cite this

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title = "Passivity-Based Quaternion Feedback Control of a Hover System",

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.",

keywords = "quaternion feedback control system, quadrotor UAV",

author = "Remon Damen and Mahmut Reyhanoglu and William MacKunis and \{Rubio Hervas\}, Jaime",

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AU - Damen, Remon

AU - Reyhanoglu, Mahmut

AU - MacKunis, William

AU - Rubio Hervas, Jaime

N1 - A passivity-based quaternion feedback control strategy is presented for a hover system (quadrotor UAV test bed), which achieves asymptotic attitude regulat

PY - 2016/10

Y1 - 2016/10

N2 - 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.

AB - 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.

KW - quaternion feedback control system

KW - quadrotor UAV

UR - https://ieeexplore.ieee.org/document/7832321/

U2 - 10.1109/ICCAS.2016.7832321

DO - 10.1109/ICCAS.2016.7832321

M3 - Presentation

T2 - 16th International Conference on Control, Automation and Systems (ICCAS)

Y2 - 1 October 2016

ER -

Passivity-Based Quaternion Feedback Control of a Hover System

Abstract

Conference

Keywords

Disciplines

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