A quaternion-based simulation of multirotor dynamics
作者机构：Kore University of Enna Faculty of Engineering and Architecture Cittadella Universitaria94100EnnaItaly
出 版 物：《International Journal of Modeling, Simulation, and Scientific Computing》 (建模、仿真和科学计算国际期刊（英文）)
年 卷 期：2015年第6卷第1期
页 面：145-162页
核心收录：
学科分类：07[理学] 0701[理学-数学] 070101[理学-基础数学]
基 金：Project supported by the PO.FESR 2007/2013 subprogram 4.1.1.1“Actions to support the research and experimental development in connection with the production sectors technological and production districts in areas of potentiality excellence that test high integration between universities research centers SMEs and large enterprises”(Project name“Mezzo Aereo a controllo remoto per il Rilevamento del TErritorio-MARTE”Grant No.10772131)
主 题：Newton-Euler equation quaternion UAV control
摘 要：The main problem addressed in this paper is the quaternion-based trajectory control of a microcopter consisting of six rotors with three pairs of counter-rotating fixed-pitch blades,known as *** the hypothesis of rigid body condition is assumed,the Newton–Euler equations describe the translational and rotational motion of the *** standard Euler-angle parametrization of three-dimensional rotations contains singular points in the coordinate space that can cause failure of both dynamical model and *** order to avoid singularities,all the rotations of the microcopter are thus parametrized in terms of quaternions and an original proportional derivative(PD)regulator is proposed in order to control the dynamical *** simulations will be performed on symmetrical flight configuration,proving the reliability of the proposed PD control technique.
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