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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dongming Gan Guowei Cai Dias, J. Seneviratne, L. |
| Copyright Year | 2013 |
| Description | Author affiliation: Robot. Inst., Khalifa Univ. of Sci., Technol. & Res., Abu Dhabi, United Arab Emirates (Dongming Gan; Guowei Cai; Dias, J.; Seneviratne, L.) |
| 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. |
| Sponsorship | IEEE |
| Starting Page | 597 |
| Ending Page | 600 |
| File Size | 1010256 |
| Page Count | 4 |
| File Format | |
| ISBN | 9781479924523 |
| DOI | 10.1109/ICECS.2013.6815485 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-12-08 |
| Publisher Place | United Arab Emirates |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Vectors Attitude control Rotors Kinematics Robots Educational institutions Quaternions |
| Content Type | Text |
| Resource Type | Article |
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