Newton–Euler Modeling and Control of a Multi-copter Using Motor Algebra G3,0,1
In this work the dynamic model and the nonlinear control for a multi-copter have been developed using the geometric algebra framework specifically using the motor algebra G 3 , 0 , 1 + . The kinematics for the aircraft model and the dynamics based on Newton-Euler formalism are presented. Block-contr...
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| Veröffentlicht in: | Advances in applied Clifford algebras 2020, Vol.30 (2) |
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| container_title | Advances in applied Clifford algebras |
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| creator | Arellano-Muro, Carlos A. Osuna-González, Guillermo Castillo-Toledo, Bernardino Bayro-Corrochano, Eduardo |
| description | In this work the dynamic model and the nonlinear control for a multi-copter have been developed using the geometric algebra framework specifically using the motor algebra
G
3
,
0
,
1
+
. The kinematics for the aircraft model and the dynamics based on Newton-Euler formalism are presented. Block-control technique is applied to the multi-copter model which involves super twisting control and an estimator of the internal dynamics for maneuvers away from the origin. The stability of the presented control scheme is proved. The experimental analysis shows that our non-linear controller law is able to reject external disturbances and to deal with parametric variations. |
| doi_str_mv | 10.1007/s00006-020-1045-1 |
| format | Article |
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G
3
,
0
,
1
+
. The kinematics for the aircraft model and the dynamics based on Newton-Euler formalism are presented. Block-control technique is applied to the multi-copter model which involves super twisting control and an estimator of the internal dynamics for maneuvers away from the origin. The stability of the presented control scheme is proved. The experimental analysis shows that our non-linear controller law is able to reject external disturbances and to deal with parametric variations.</description><identifier>ISSN: 0188-7009</identifier><identifier>EISSN: 1661-4909</identifier><identifier>DOI: 10.1007/s00006-020-1045-1</identifier><language>eng</language><publisher>Cham: Springer International Publishing</publisher><subject>2017 ; Aircraft models ; Algebra ; Applications of Mathematics ; Control stability ; Dynamic models ; Dynamic stability ; Ghent ; Kinematics ; Maneuvers ; Mathematical and Computational Physics ; Mathematical Methods in Physics ; Nonlinear control ; Physics ; Physics and Astronomy ; Proceedings ICCA 11 ; Stability analysis ; Theoretical ; Twisting</subject><ispartof>Advances in applied Clifford algebras, 2020, Vol.30 (2)</ispartof><rights>Springer Nature Switzerland AG 2020</rights><rights>Springer Nature Switzerland AG 2020.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s00006-020-1045-1$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s00006-020-1045-1$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,780,784,27924,27925,41488,42557,51319</link.rule.ids></links><search><creatorcontrib>Arellano-Muro, Carlos A.</creatorcontrib><creatorcontrib>Osuna-González, Guillermo</creatorcontrib><creatorcontrib>Castillo-Toledo, Bernardino</creatorcontrib><creatorcontrib>Bayro-Corrochano, Eduardo</creatorcontrib><title>Newton–Euler Modeling and Control of a Multi-copter Using Motor Algebra G3,0,1</title><title>Advances in applied Clifford algebras</title><addtitle>Adv. Appl. Clifford Algebras</addtitle><description>In this work the dynamic model and the nonlinear control for a multi-copter have been developed using the geometric algebra framework specifically using the motor algebra
G
3
,
0
,
1
+
. The kinematics for the aircraft model and the dynamics based on Newton-Euler formalism are presented. Block-control technique is applied to the multi-copter model which involves super twisting control and an estimator of the internal dynamics for maneuvers away from the origin. The stability of the presented control scheme is proved. The experimental analysis shows that our non-linear controller law is able to reject external disturbances and to deal with parametric variations.</description><subject>2017</subject><subject>Aircraft models</subject><subject>Algebra</subject><subject>Applications of Mathematics</subject><subject>Control stability</subject><subject>Dynamic models</subject><subject>Dynamic stability</subject><subject>Ghent</subject><subject>Kinematics</subject><subject>Maneuvers</subject><subject>Mathematical and Computational Physics</subject><subject>Mathematical Methods in Physics</subject><subject>Nonlinear control</subject><subject>Physics</subject><subject>Physics and Astronomy</subject><subject>Proceedings ICCA 11</subject><subject>Stability analysis</subject><subject>Theoretical</subject><subject>Twisting</subject><issn>0188-7009</issn><issn>1661-4909</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid/><recordid>eNpFkMFKAzEQhoMoWKsP4C3gtdGZTTbZHEupVeiqB3sO6W5SWpbNmt3Fq-_gG_okplRwLsPAx_w_HyG3CPcIoB56SCMZZMAQRM7wjExQSmRCgz4nE8CiYApAX5Krvj8ACMl5MSFvL-5zCO3P1_dybFykZahds2931LY1XYR2iKGhwVNLy7EZ9qwK3ZCwTX9kyjCESOfNzm2jpSs-gxlekwtvm97d_O0p2Twu3xdPbP26el7M16xDgcjQW1V56yrAzBZqCygxw3SrHGq-VTVqIb1Gl2e1BasL7aWq0AlfKS-c5FNyd_rbxfAxun4whzDGNkWajOdCqUJISFR2ovoupsYu_lMI5mjOnMyZZM4czRnkv-ktYCQ</recordid><startdate>2020</startdate><enddate>2020</enddate><creator>Arellano-Muro, Carlos A.</creator><creator>Osuna-González, Guillermo</creator><creator>Castillo-Toledo, Bernardino</creator><creator>Bayro-Corrochano, Eduardo</creator><general>Springer International Publishing</general><general>Springer Nature B.V</general><scope/></search><sort><creationdate>2020</creationdate><title>Newton–Euler Modeling and Control of a Multi-copter Using Motor Algebra G3,0,1</title><author>Arellano-Muro, Carlos A. ; Osuna-González, Guillermo ; Castillo-Toledo, Bernardino ; Bayro-Corrochano, Eduardo</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-p1411-1fa7cfaec012a87b016121aec750d3b7d1946f91e52da0a989f67c1e4fc7f4e63</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>2017</topic><topic>Aircraft models</topic><topic>Algebra</topic><topic>Applications of Mathematics</topic><topic>Control stability</topic><topic>Dynamic models</topic><topic>Dynamic stability</topic><topic>Ghent</topic><topic>Kinematics</topic><topic>Maneuvers</topic><topic>Mathematical and Computational Physics</topic><topic>Mathematical Methods in Physics</topic><topic>Nonlinear control</topic><topic>Physics</topic><topic>Physics and Astronomy</topic><topic>Proceedings ICCA 11</topic><topic>Stability analysis</topic><topic>Theoretical</topic><topic>Twisting</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Arellano-Muro, Carlos A.</creatorcontrib><creatorcontrib>Osuna-González, Guillermo</creatorcontrib><creatorcontrib>Castillo-Toledo, Bernardino</creatorcontrib><creatorcontrib>Bayro-Corrochano, Eduardo</creatorcontrib><jtitle>Advances in applied Clifford algebras</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Arellano-Muro, Carlos A.</au><au>Osuna-González, Guillermo</au><au>Castillo-Toledo, Bernardino</au><au>Bayro-Corrochano, Eduardo</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Newton–Euler Modeling and Control of a Multi-copter Using Motor Algebra G3,0,1</atitle><jtitle>Advances in applied Clifford algebras</jtitle><stitle>Adv. Appl. Clifford Algebras</stitle><date>2020</date><risdate>2020</risdate><volume>30</volume><issue>2</issue><issn>0188-7009</issn><eissn>1661-4909</eissn><abstract>In this work the dynamic model and the nonlinear control for a multi-copter have been developed using the geometric algebra framework specifically using the motor algebra
G
3
,
0
,
1
+
. The kinematics for the aircraft model and the dynamics based on Newton-Euler formalism are presented. Block-control technique is applied to the multi-copter model which involves super twisting control and an estimator of the internal dynamics for maneuvers away from the origin. The stability of the presented control scheme is proved. The experimental analysis shows that our non-linear controller law is able to reject external disturbances and to deal with parametric variations.</abstract><cop>Cham</cop><pub>Springer International Publishing</pub><doi>10.1007/s00006-020-1045-1</doi></addata></record> |
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| ispartof | Advances in applied Clifford algebras, 2020, Vol.30 (2) |
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| language | eng |
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| source | SpringerLink Journals - AutoHoldings |
| subjects | 2017 Aircraft models Algebra Applications of Mathematics Control stability Dynamic models Dynamic stability Ghent Kinematics Maneuvers Mathematical and Computational Physics Mathematical Methods in Physics Nonlinear control Physics Physics and Astronomy Proceedings ICCA 11 Stability analysis Theoretical Twisting |
| title | Newton–Euler Modeling and Control of a Multi-copter Using Motor Algebra G3,0,1 |
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