Now showing items 1-3 of 3
Dual-quaternion backstepping control for a fully-actuated rigid-body
(Peer reviewed; Book; Chapter, 2018-08-16)
In this paper dual-quaternions are used to model a fully actuated rigid-body. A backstepping-controller that solves the trajectory tracking problem is derived and proved to provide uniform asymptotical stabilization of the error dynamics. Numerical simulations are provided where the controller is compared to existing dual-quaternion tracking controllers and it is shown to have similar performance.
Curvature Continuous Path Generation for UAVs based on Generalized Expo-Rational B-Splines
(Peer reviewed; Book; Chapter, 2018)
This paper proposes a new path-planning algorithm based on GERBS to generate curvature continuous paths. The algorithm blends between a set of local curves generating a global smooth path which also interpolates the midpoint of the curves. Numerical examples are provided which demonstrates the potential of the proposed algorithm.
Quaternion Path-Following in Three Dimensions for a Fixed-Wing UAV Using Quaternion Blending
(Peer reviewed; Book; Chapter, 2018-10-29)
This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model ...