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Euler and Quaternion Parameterization in VTOL UAV Dynamics with Test Model Efficiency

Redouane Dargham, Adil Sayouti, Hicham Medromi. Published in Applied Sciences

International Journal of Applied Information Systems
Year of Publication: 2015
Publisher: Foundation of Computer Science (FCS), NY, USA
Authors: Redouane Dargham, Adil Sayouti, Hicham Medromi
10.5120/ijais2015451447
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  1. Redouane Dargham, Adil Sayouti and Hicham Medromi. Article: Euler and Quaternion Parameterization in VTOL UAV Dynamics with Test Model Efficiency. International Journal of Applied Information Systems 9(8):25-28, October 2015. BibTeX

    @article{key:article,
    	author = "Redouane Dargham and Adil Sayouti and Hicham Medromi",
    	title = "Article: Euler and Quaternion Parameterization in VTOL UAV Dynamics with Test Model Efficiency",
    	journal = "International Journal of Applied Information Systems",
    	year = 2015,
    	volume = 9,
    	number = 8,
    	pages = "25-28",
    	month = "October",
    	note = "Published by Foundation of Computer Science (FCS), NY, USA"
    }
    

Abstract

The Vetical Take Off And Landing Unmanned Aerial Vehicle ( VTOL UAV) has seen unprecedented levels of growth over the past 20 years with military applications dominating the field and the civilian applications tending to follow. Further, the use of UAVs has become a favored solution for important tasks requiring air operations as aerial photography, surveillance, inspection, search and rescue or mapping .For these applications to emerge, motion control algorithms that guarantee a good amount of stability and robustness against state measurement/estimation errors are needed. This paper describes: The dynamical equation of rigid bodies can be gathered from the classical Newton-Euler differential equations, which commonly make use of the Euler angles parametrization and its limits after the description of motion in terms of quaternions formulation instead of the Euler one and its benifits. This kind of analysis, proved by some numerical results presented, has a great importance due to the applicability of quaternion to drone control. An illustration of this study will be given in an application of control of an autonomous hexacopter developed by the team architecture of systems, in the national engineering school of electricity and mechanic in Casablanca in Morocco.

Reference

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Keywords

Vertical Take Off And Landing Unmanned Aerial Vehicle (VTOL UAV), motion control, Newton-Euler equations, Quaternion, Hexacopter