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HYBRID GEOMETRIC-BASED QUATERNION CONTROL FOR ALTITUDE AND AGGRESSIVE ORIENTATION TRACKING OF QUADROTOR UAV

This paper proposes a hybrid control algorithm that combines geometric tracking control (GTC) with special orthogonal group SO(3) for position tracking and quaternion orientation-based attitude tracking control (QOATC) in order to achieve trajectory tracking with high attitude maneuverability for qu...

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Principais autores: Mohamed Dine, Abdelkrim Kherkhar, Younes Chiba, Abdelhalim Tlemçani
Format: Artigo
Sprog:Inglês
Udgivet: Faculty of Engineering, University of Kufa 2026-02-01
Serier:Mağallaẗ Al-kūfaẗ Al-handasiyyaẗ
Fag:
quadrotor
robust control
aggressive maneuvers
geometric tracking control
quaternion-based orientation control
Online adgang:https://journal.uokufa.edu.iq/index.php/kje/article/view/18757
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