Quadrotors trajectory tracking using a differential flatness-quaternion based approach

Kheireddine Choutri, Mohand Lagha, Laurent Dala, Michael Lipatov

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

4 Citations (Scopus)
2 Downloads (Pure)

Abstract

A quadrotors is a type of Unmanned Aerial Vehicles (UAV) systems that attract the researchers in the control field since it's a highly nonlinear, underactuated system. In this paper, a non-linear dynamic model based on quaternions is developed. Differential flatness is an approach that enables the optimization to occur within the output space and therefore simplifies the problem of the trajectory tracking. This work aim to combine both methods in order to create a differential flatness-quaternion based approach that enables the quadrotors to follow a desired optimal path and avoid any singularities that can occur. The trajectory tracking is assured by a double loop control structure based on the LQR controller.
Original languageEnglish
Title of host publicationProceedings of the 2017 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO)
PublisherIEEE
ISBN (Print)9781509054541
DOIs
Publication statusPublished - 29 May 2017
Event7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO) - Sharjah, United Arab Emirates
Duration: 29 May 2017 → …

Conference

Conference7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO)
Period29/05/17 → …

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