Trajectory Tracking for a Multicopter under a Quaternion Representation

• Type: Article in International Conference Proceedings Book
• Date: 2020

Authors

Nguyen, HT (Author) Other; Nguyen, NT (Author) Other; Prodan, I (Author) Other; Fernando Lobo Pereira (Author) FEUP

Conference proceedings International

Title: IFAC-PapersOnLine

Pages: 5731-5736

21st IFAC World Congress 2020

12 July 2020 through 17 July 2020

Indexing

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Other information

Authenticus ID: P-00T-XT6

DOI: 10.1016/j.ifacol.2020.12.1602

Abstract (EN): This paper proposes a two-layer hierarchical control scheme for trajectory tracking of a multicopter system using attitude quaternion. We first present the differential flatness properties of the system and then, exploit them to design the feedback linearization laws for the position controller at the high control level. Next, the computed-torque control method is employed for stabilizing the attitude quaternion. The whole control scheme is illustrated through simulations while the position controller is further tested under experiments over a nano-drone quadcopter platform. Copyright (C) 2020 The Authors.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6