文章基本信息

标题：Some Discussions about the Error Functions on SO(3) and SE(3) for the Guidance of a UAV Using the Screw Algebra Theory
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作者：Yi Zhu ; Xin Chen ; Chuntao Li 等
期刊名称：Advances in Mathematical Physics
印刷版ISSN：1687-9120
电子版ISSN：1687-9139
出版年度：2017
卷号：2017
DOI：10.1155/2017/1016530
出版社：Hindawi Publishing Corporation
摘要：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.