Three dimensional stabilization controller based on improved quaternion transformation for fixed-wing UAVs

To realize the three-dimensional stabilization control of fixed-wing unmanned aerial vehicles (UAVs), we analyze the nonholonomic characteristics, constraint non-integrability, and controllability of UAVs. To simplify the trigonometric function term in the dynamics of the UAV and avoid the singularity problem of the Euler angle in describing attitude, we use the quaternion theory to transform the dynamics of the UAV to avoid the complex trigonometric function derivation, which makes the dynamic matrix more concise. Based on this, a continuous periodic time-varying controller (CPTVC) is designed, and the effectiveness of the controller is proved using the homogeneous method. Finally, the results of the hardware in a loop simulation indicated that the exponential stability provided by the feedback controller can realize the three-dimensional stabilization of any initial position.(c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

Automated summary

This paper analyzes the nonholonomic characteristics, constraint non-integrability, and controllability of fixed-wing unmanned aerial vehicles (UAVs). By using quaternion theory, the dynamics of the UAV is transformed to simplify the trigonometric function term and overcome the singularity problem. A continuous periodic time-varying controller is designed and its effectiveness is proven through hardware in a loop simulation. The results demonstrate that the feedback controller provides exponential stability and achieves three-dimensional stabilization of the UAV from any initial position.