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<p>This paper investigates the effects of gain selection in a leader-follower configuration controller on the performance and robustness of small Unmanned Aerial Vehicles (UAVs). Additionally, it studies the tracking problem, taking into account the delays that may appear in the system, as this represents a more coherent approximation of a real control scenario. Besides theoretical analysis, this paper presents a robust set of experiments where different gain choices under variable conditions are tested and compared. Dual quaternions are employed to enhance the controller’s reliability and numerical precision. The findings contribute to the understanding and applicability of dual quaternion-based controllers and their tunneling strategies.</p>

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Systematic Dual Quaternion Based Controller Comparison for a Leader-Follower Quadrotor Formation

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年4月15日

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  • Harrison Neves Marciano,
  • Daniel Khede Dourado Villa,
  • Mário Sarcinelli-Filho,
  • Juan Ignacio Giribet

摘要

This paper investigates the effects of gain selection in a leader-follower configuration controller on the performance and robustness of small Unmanned Aerial Vehicles (UAVs). Additionally, it studies the tracking problem, taking into account the delays that may appear in the system, as this represents a more coherent approximation of a real control scenario. Besides theoretical analysis, this paper presents a robust set of experiments where different gain choices under variable conditions are tested and compared. Dual quaternions are employed to enhance the controller’s reliability and numerical precision. The findings contribute to the understanding and applicability of dual quaternion-based controllers and their tunneling strategies.