Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV

Abro, G.E.M. and Zulkifli, S.A.B.M. and Asirvadam, V.S. (2021) Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV. In: UNSPECIFIED.

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Abstract

In the streamline of UAVs, researchers have proposed various observers and control designs by opting the Newton Euler (NE) Dynamic model frequently. In this manuscript, performance evaluation has been done in between NE Dynamic model and Quaternion mathematics-based model (QM) to show that QM model has more perks such that it avoids gimbal lock issue that occurs due to singularity problem in NE model. Moreover, it can accommodate the unmodelled dynamic factors smartly i.e., payload smooth and non-smooth variations, wind disturbance, and loss of rotor effectiveness. The numerical results such that simulation time, number of less iterations and error percentage between NE and QM derived models illustrates that one may consider QM model while designing any control or observer design. © 2021 IEEE.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Additional Information: cited By 3; Conference of 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021 ; Conference Date: 27 August 2021 Through 28 August 2021; Conference Code:171713
Uncontrolled Keywords: Degrees of freedom (mechanics); Unmanned aerial vehicles (UAV), Degree of freedom; Dynamics models; Newton-Euler; Performances evaluation; Quad rotors; Quaternion; System Dynamics; Under-actuated systems; Underactuated system and unmodeled dynamic; Unmodeled dynamics, Dynamic models
Depositing User: Mr Ahmad Suhairi UTP
Date Deposited: 10 Nov 2023 03:29
Last Modified: 10 Nov 2023 03:29
URI: https://khub.utp.edu.my/scholars/id/eprint/14562

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