Abstract
Quaternions are an alternative to the classical Euler angles for mathematically describing mechanical systems, including unmanned aerial vehicles (UAVs). In this chapter, the most important concepts of unit and dual quaternions are explained to give a clear basis for readers when working with quaternions. In the first section, unit quaternions are presented to describe a simple yet complete dynamic model for the rotational and translational dynamics of UAVs. In the second section, dual quaternions are explained, which are useful when describing robotic systems with multiple rotations and translations. The dynamic model and a controller example are developed in both sections to illustrate each approach.
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Abaunza, H., Castillo, P., Lozano, R. (2018). Quaternion Modeling and Control Approaches. In: Valavanis, K., Vachtsevanos, G. (eds) Handbook of Unmanned Aerial Vehicles. Springer, Cham. https://doi.org/10.1007/978-3-319-32193-6_179-1
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DOI: https://doi.org/10.1007/978-3-319-32193-6_179-1
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