Quadrotors trajectory tracking using a differential flatness-quaternion based approach

Kheireddine Choutri; Mohand Lagha; Laurent Dala; Michael Lipatov

doi:10.1109/ICMSAO.2017.7934901

Quadrotors trajectory tracking using a differential flatness-quaternion based approach

Kheireddine Choutri, Mohand Lagha, Laurent Dala, Michael Lipatov

Mechanical and Construction Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

5 Citations (Scopus)

19 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 language	English
Title of host publication	Proceedings of the 2017 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO)
Publisher	IEEE
ISBN (Print)	9781509054541
DOIs	https://doi.org/10.1109/ICMSAO.2017.7934901
Publication status	Published - 29 May 2017
Event	7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO) - Sharjah, United Arab Emirates Duration: 29 May 2017 → …

Conference

Conference	7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO)
Period	29/05/17 → …

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10.1109/ICMSAO.2017.7934901

Choutri et al - Quadrotors trajectory trackingAccepted author manuscript, 1.11 MB

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title = "Quadrotors trajectory tracking using a differential flatness-quaternion based approach",

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.",

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Choutri, K, Lagha, M, Dala, L & Lipatov, M 2017, Quadrotors trajectory tracking using a differential flatness-quaternion based approach. in Proceedings of the 2017 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO). IEEE, 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO), 29/05/17. https://doi.org/10.1109/ICMSAO.2017.7934901

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T1 - Quadrotors trajectory tracking using a differential flatness-quaternion based approach

AU - Choutri, Kheireddine

AU - Lagha, Mohand

AU - Dala, Laurent

AU - Lipatov, Michael

PY - 2017/5/29

Y1 - 2017/5/29

N2 - 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.

AB - 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.

KW - quadrotors

KW - trajectory tracking

KW - LQR

KW - differential flatness

KW - quaternions

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M3 - Chapter

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BT - Proceedings of the 2017 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO)

PB - IEEE

T2 - 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO)

Y2 - 29 May 2017

ER -

Quadrotors trajectory tracking using a differential flatness-quaternion based approach

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