2019
DOI: 10.1017/s0263574719001231
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Abstract: SUMMARYIn this paper, a robust geometric navigation algorithm, designed on the special Euclidean group SE(3), of a quadrotor is proposed. The equations of motion for the quadrotor are obtained using the Newton–Euler formulation. The geometric navigation considers a guidance frame which is designed to perform autonomous flights with a convergence to the contour of the task with small normal velocity. For this purpose, a super twisting algorithm controls the nonlinear rotational and translational dynamics as a c… Show more

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Cited by 11 publications
(10 citation statements)
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“…3 and 3 are disturbances vectors. [21][22][23][24] The total thrust T T i and the actuator moments s a i generated by the four rotors are describe as follows…”
Section: Equations Of Motion For N-quadrotor Uavsmentioning
confidence: 99%
See 4 more Smart Citations
“…3 and 3 are disturbances vectors. [21][22][23][24] The total thrust T T i and the actuator moments s a i generated by the four rotors are describe as follows…”
Section: Equations Of Motion For N-quadrotor Uavsmentioning
confidence: 99%
“…Y and D are the aerodynamic side force, and drag force, respectively. 21 The aerodynamic moments. The aerodynamic moments generated during the flight are written as described as where L; M and N are the aerodynamic rolling, pitching and yawing moments respectively.…”
Section: Equations Of Motion For N-quadrotor Uavsmentioning
confidence: 99%
See 3 more Smart Citations