Quadrotor quaternion control

  title={Quadrotor quaternion control},
  author={John Carino and H. Abaunza and Pedro Castillo},
  journal={2015 International Conference on Unmanned Aircraft Systems (ICUAS)},
This paper presents the design and practical implementation of a quaternion control scheme to globally stabilize a quadrotor aerial vehicle. First an attitude control law is proposed to stabilize the vehicle's heading, then a position control law is proposed to stabilize the vehicle in all its states. Using the position references, a smooth trajectory is calculated for the attitude controller to follow so that the position of the vehicle becomes stable. The proposed control law is such that the… CONTINUE READING
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