Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV

Ghulam E.Mustafa Abro; Saiful Azrin B.M. Zulkifli; Vijanth Sagayan Asirvadam

doi:10.1109/ICCSCE52189.2021.9530907

Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV

Ghulam E.Mustafa Abro, Saiful Azrin B.M. Zulkifli, Vijanth Sagayan Asirvadam

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

In the streamline of UAVs, researchers have proposed various observers and control designs by opting the Newton Euler (NE) Dynamic model frequently. In this manuscript, performance evaluation has been done in between NE Dynamic model and Quaternion mathematics-based model (QM) to show that QM model has more perks such that it avoids gimbal lock issue that occurs due to singularity problem in NE model. Moreover, it can accommodate the unmodelled dynamic factors smartly i.e., payload smooth and non-smooth variations, wind disturbance, and loss of rotor effectiveness. The numerical results such that simulation time, number of less iterations and error percentage between NE and QM derived models illustrates that one may consider QM model while designing any control or observer design.

Original language	English
Title of host publication	Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	142-147
Number of pages	6
ISBN (Electronic)	9781665412810
DOIs	https://doi.org/10.1109/ICCSCE52189.2021.9530907
State	Published - 27 Aug 2021
Externally published	Yes
Event	11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021 - Penang, Malaysia Duration: 27 Aug 2021 → 28 Aug 2021

Publication series

Name	Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021

Conference

Conference	11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021
Country/Territory	Malaysia
City	Penang
Period	27/08/21 → 28/08/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

Degree of freedom
Newton Euler
Quadrotor
Quaternion
Underactuated System and Unmodelled dynamics

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Automotive Engineering
Computational Mechanics
Control and Optimization
Health Informatics

Access to Document

10.1109/ICCSCE52189.2021.9530907

Cite this

Abro, G. E. M., Zulkifli, S. A. B. M., & Asirvadam, V. S. (2021). Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV. In Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021 (pp. 142-147). (Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCSCE52189.2021.9530907

Abro, Ghulam E.Mustafa ; Zulkifli, Saiful Azrin B.M. ; Asirvadam, Vijanth Sagayan. / Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV. Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 142-147 (Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021).

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title = "Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV",

abstract = "In the streamline of UAVs, researchers have proposed various observers and control designs by opting the Newton Euler (NE) Dynamic model frequently. In this manuscript, performance evaluation has been done in between NE Dynamic model and Quaternion mathematics-based model (QM) to show that QM model has more perks such that it avoids gimbal lock issue that occurs due to singularity problem in NE model. Moreover, it can accommodate the unmodelled dynamic factors smartly i.e., payload smooth and non-smooth variations, wind disturbance, and loss of rotor effectiveness. The numerical results such that simulation time, number of less iterations and error percentage between NE and QM derived models illustrates that one may consider QM model while designing any control or observer design.",

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Abro, GEM, Zulkifli, SABM & Asirvadam, VS 2021, Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV. in Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021. Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021, Institute of Electrical and Electronics Engineers Inc., pp. 142-147, 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021, Penang, Malaysia, 27/08/21. https://doi.org/10.1109/ICCSCE52189.2021.9530907

Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV. / Abro, Ghulam E.Mustafa; Zulkifli, Saiful Azrin B.M.; Asirvadam, Vijanth Sagayan.
Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 142-147 (Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2021/8/27

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AB - In the streamline of UAVs, researchers have proposed various observers and control designs by opting the Newton Euler (NE) Dynamic model frequently. In this manuscript, performance evaluation has been done in between NE Dynamic model and Quaternion mathematics-based model (QM) to show that QM model has more perks such that it avoids gimbal lock issue that occurs due to singularity problem in NE model. Moreover, it can accommodate the unmodelled dynamic factors smartly i.e., payload smooth and non-smooth variations, wind disturbance, and loss of rotor effectiveness. The numerical results such that simulation time, number of less iterations and error percentage between NE and QM derived models illustrates that one may consider QM model while designing any control or observer design.

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Abro GEM, Zulkifli SABM, Asirvadam VS. Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV. In Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 142-147. (Proceedings - 2021 11th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2021). doi: 10.1109/ICCSCE52189.2021.9530907

Performance Evaluation of Newton Euler Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

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