A fully-actuated quadcopter representation using quaternions

DOI10.1080/00207179.2022.2129789MaRDI QIDQ6089807zbMATH OpenOpenAlexFDO

Authors

Publication date 15 December 2023

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://hal-cnrs.archives-ouvertes.fr/hal-03842750

zbMATH Keywords

multirotornonlinear dynamicsquadcopterquaternionUAVunder-actuated system

Mathematics Subject Classification ID

Quaternion and other division algebras: arithmetic, zeta functions (11R52) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Dissipative systems analysis and control. Theory and applications
• Hamilton, Rodrigues, and the Quaternion Scandal
• scientific article; zbMATH DE number 1987557 (Why is no real title available?)
• Quadcopter aggressive maneuvers along singular configurations: an energy-quaternion based approach
• Saturations-based nonlinear controllers with integral term: validation in real-time
• The Axis of a Rotation: Analysis, Algebra, Geometry

Cited in

(1)

• Cobra aerobatic flight for quadrotors using θ - D nonlinear control

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