Attitude control of quad-rotor UAVs using an intuitive kinematics model

Dongming Gan, Guowei Cai, Jorge Dias, Lakmal Seneviratne

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

2 Scopus citations

Abstract

This paper presents the work on attitude control of quad-rotor UAVs applying an intuitive kinematics representation, called rotation vector. There are three elements in the rotation vector which has clear physical meaning of the rotations and avoids the singularity problem of Euler angles and the unity norm constraint problem of quaternions. Basic definition of the rotation vector and its relation with the object body angle velocity is introduced and used in the 6DOF quadrotor dynamics. Based on the property that the rotation vector rate is equivalent to the body angle velocity when the rotation is small, a simple and intuitive attitude reference is proposed. A proportional-derivative (PD) law is used by integrating the new attitude reference for the attitude control of quad-rotor UAVs. Simulation results prove the efficiency of the new method which provides a new model with intuitive physical meaning for quadrotor UAVs.

Original languageBritish English
Title of host publication2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages597-600
Number of pages4
ISBN (Print)9781479924523
DOIs
StatePublished - 2013
Event2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013 - Abu Dhabi, United Arab Emirates
Duration: 8 Dec 201311 Dec 2013

Publication series

NameProceedings of the IEEE International Conference on Electronics, Circuits, and Systems

Conference

Conference2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period8/12/1311/12/13

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