Newton-Euler modeling and control of a multi-copter using motor algebra \(\mathrm{G}^+_{3,0,1} \) (Q2301513)
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scientific article; zbMATH DE number 7173270
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| English | Newton-Euler modeling and control of a multi-copter using motor algebra \(\mathrm{G}^+_{3,0,1} \) |
scientific article; zbMATH DE number 7173270 |
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Newton-Euler modeling and control of a multi-copter using motor algebra \(\mathrm{G}^+_{3,0,1} \) (English)
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24 February 2020
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In the present paper, on the base of the geometric algebra framework specifically using the motor algebra \(G^{+}_{3,0,1}\), the dynamic model and the nonlinear control for a multi-copter have been developed. The kinematics of the aircraft model is presented and the dynamics through Newton-Euler formalism is described. The block-control technique is applied in combination with super twisting including an internal dynamics estimator driven by maneuvers away from the origin. Finally, the stability of the presented control scheme is shown.
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Newton-Euler equations of motion
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algebra of rotors
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motor algebra \(G^{+}_{3,0,1}\)
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multi-copter control
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adaptive estimator
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0.83330643
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0.8331356
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0.82511806
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0.82416326
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0.8203267
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0.81902367
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0.81789947
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