Newton-Euler modeling and control of a multi-copter using motor algebra G^+_3,0,1
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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