Stabilization and trajectory tracking of a subactuated aircraft based on a Geometric Algebra approach

被引：0

作者：

Escamilla, Leonardo, III ^{[1
]}

Carrillo, Luis Rodolfo Garcia ^{[1
]}

Sandoval, Steven ^{[1
]}

Quesada, Eduardo Steed Espinoza ^{[2
]}

机构：

[1] New Mexico State Univ, Klipsch Sch Elect & Comp Engn, Las Cruces, NM USA

[2] French Mexican Lab Informat & Automat Control, Mexico City, DF, Mexico

来源：

2023 AMERICAN CONTROL CONFERENCE, ACC | 2023年

基金：

美国国家航空航天局;

关键词：

D O I：

10.23919/ACC55779.2023.10156381

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel approach to the modeling and control of a subactuated aircraft is performed based on Geometric Algebra (GA) principles. The selected platform for analysis is a quad rotorcraft. The derived model leverages objects from GA, such as the rotor, to perform rotations, replacing the need for Euler angles and quaternions. Controllers, which operate exclusively on GA objects, are developed to regulate the altitude, attitude, and translation of the quad rotorcraft. Numerical examples, including way-point navigation and trajectory tracking, illustrate the feasibility of the GA approach.

引用

页码：3233 / 3238

页数：6

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