Corpus ID: 9643435

Quaternions and Attitude Representation

@article{Parwana2017QuaternionsAA,
  title={Quaternions and Attitude Representation},
  author={Hardik Parwana and Mangal Kothari},
  journal={ArXiv},
  year={2017},
  volume={abs/1708.08680}
}
The attitude space has been parameterized in various ways for practical purposes. Different representations gain preferences over others based on their intuitive understanding, ease of implementation, formulaic simplicity, and physical as well as mathematical complications involved in using them. This technical note gives a brief overview and discusses the quaternions, which are fourth dimensional extended complex numbers and used to represent orientation. Their relationship to other modes of… Expand
Global Attitude Stabilization using Pseudo-Targets
TLDR
Nonlinear control laws using both rotation matrices and quaternions are presented that give rise to one almost globally asymptotically stabilizable equilibrium along with a nowhere dense set of unstable equilibria. Expand
A Low-Cost Tilt-Augmented Quadrotor Helicopter : Modeling and Control
TLDR
Modeling and control of a low-cost tilt-augmented quadrotor helicopter is presented which reveals the challenge of control allocation for the available actuators and a PD-type quaternion based attitude controller is developed to ensure stabilization. Expand
Quaternion based adaptive control for package delivery using variable-pitch quadrotors
TLDR
This work presents a nonlinear adaptive control design of a variable-pitch quadrotor using MATLAB environment to show a drone-delivery simulation along with trajectory tracking and inverted flight. Expand
Modeling and Control of Inverted Flight of a Variable-Pitch Quadrotor
TLDR
The proposed flight dynamics model is used for non-linear control design using dynamic inversion technique, which is then used to stabilize, track reference trajectory, and simulate flip maneuver. Expand
A Parallel Type Micro-Robotic System for Semi-Conductor Manufacturing Machines: Preliminary Results
A novel parallel robot design with spherical flexure joints for use in the short-stroke stage in semi-conductor manufacturing motion systems, i.e. nanolithography machines, is introduced. The newExpand
A Multi-Agent System for Data Fusion Techniques Applied to the Internet of Things Enabling Physical Rehabilitation Monitoring
TLDR
The main objective of this work is to design a distributed platform to monitor the patient’s movements and status during rehabilitation exercises and later, this information can be processed and analyzed remotely by the doctor assigned to the patient. Expand

References

SHOWING 1-10 OF 10 REFERENCES
Representing Attitude : Euler Angles , Unit Quaternions , and Rotation Vectors
TLDR
The three main mathematical constructs used to represent the attitude of a rigid body in threedimensional space are presented, and a fourth is added, the rotation vector, which has many of the benefits of both Euler angles and quaternions, but neither the singularities of the former, nor the quadratic constraint of the latter. Expand
A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
We show that a continuous dynamical system on a state space that has the structure of a vector bundle on a compact manifold possesses no globally asymptotically stable equilibrium. This result isExpand
Quaternion kinematics for the error-state KF
A complete compendium of Quaternion formulas, with applications to Kalman filtering for visual-inertial navigation.
Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)
TLDR
A mathematical model of the quadrotor UAV rigid body dynamics, defined on the configuration space SE(3), is introduced as a basis for the analysis and the closed loop is shown to have desirable properties that are almost global in each case. Expand
Basile . ” Quaternions and dynamics
  • ” Quaternion kinematics for the error - state KF . ” Laboratoire dAnalyse et dArchitecture des Systemes - Centre national de la recherche scientifique ( LAAS - CNRS ) , Toulouse , France , Tech . Rep
  • 2012
Basile . ” Quaternions and dynamics
  • ” Quaternion kinematics for the error - state KF . ” Laboratoire dAnalyse et dArchitecture des Systemes - Centre national de la recherche scientifique ( LAAS - CNRS ) , Toulouse , France , Tech . Rep
  • 2012
Quaternion kinematics for the errorstate KF . ” Laboratoire dAnalyse et dArchitecture des SystemesCentre national de la recherche scientifique ( LAASCNRS ) , Toulouse , France , Tech
  • 2012
Bernstein . ” A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon . ”
  • Systems & Control Letters
  • 2000
Euler angles, quaternions, and transformation matricesWorking relationships.
  • NASA TM- 74839,
  • 1977