Quadrotors trajectory tracking using a differential flatness-quaternion based approach

Choutri, Kheireddine, Lagha, Mohand, Dala, Laurent and Lipatov, Michael (2017) Quadrotors trajectory tracking using a differential flatness-quaternion based approach. In: Proceedings of the 2017 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO). IEEE. ISBN 9781509054541

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Official URL: https://doi.org/10.1109/ICMSAO.2017.7934901

Abstract

A quadrotors is a type of Unmanned Aerial Vehicles (UAV) systems that attract the researchers in the control field since it's a highly nonlinear, underactuated system. In this paper, a non-linear dynamic model based on quaternions is developed. Differential flatness is an approach that enables the optimization to occur within the output space and therefore simplifies the problem of the trajectory tracking. This work aim to combine both methods in order to create a differential flatness-quaternion based approach that enables the quadrotors to follow a desired optimal path and avoid any singularities that can occur. The trajectory tracking is assured by a double loop control structure based on the LQR controller.

Item Type: Book Section
Uncontrolled Keywords: quadrotors, trajectory tracking, LQR, differential flatness, quaternions
Subjects: H300 Mechanical Engineering
H400 Aerospace Engineering
Department: Faculties > Engineering and Environment > Mechanical and Construction Engineering
Depositing User: Ay Okpokam
Date Deposited: 17 Jul 2017 10:14
Last Modified: 19 Aug 2017 16:33
URI: http://nrl.northumbria.ac.uk/id/eprint/31357

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