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Some Discussions about the Error Functions on SO(3) and SE(3) for the Guidance of a UAV Using the Screw Algebra Theory
Joint Authors
Source
Advances in Mathematical Physics
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-01-04
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
In this paper a new error function designed on 3-dimensional special Euclidean group SE(3) is proposed for the guidance of a UAV (Unmanned Aerial Vehicle).
In the beginning, a detailed 6-DOF (Degree of Freedom) aircraft model is formulated including 12 nonlinear differential equations.
Secondly the definitions of the adjoint representations are presented to establish the relationships of the Lie groups SO(3) and SE(3) and their Lie algebras so(3) and se(3).
After that the general situation of the differential equations with matrices belonging to SO(3) and SE(3) is presented.
According to these equations the features of the error function on SO(3) are discussed.
Then an error function on SE(3) is devised which creates a new way of error functions constructing.
In the simulation a trajectory tracking example is given with a target trajectory being a curve of elliptic cylinder helix.
The result shows that a better tracking performance is obtained with the new devised error function.
American Psychological Association (APA)
Zhu, Yi& Chen, Xin& Li, Chuntao. 2017. Some Discussions about the Error Functions on SO(3) and SE(3) for the Guidance of a UAV Using the Screw Algebra Theory. Advances in Mathematical Physics،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1123045
Modern Language Association (MLA)
Zhu, Yi…[et al.]. Some Discussions about the Error Functions on SO(3) and SE(3) for the Guidance of a UAV Using the Screw Algebra Theory. Advances in Mathematical Physics No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1123045
American Medical Association (AMA)
Zhu, Yi& Chen, Xin& Li, Chuntao. Some Discussions about the Error Functions on SO(3) and SE(3) for the Guidance of a UAV Using the Screw Algebra Theory. Advances in Mathematical Physics. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1123045
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1123045