Quadrotor quaternion control

@article{Carino2015QuadrotorQC,
  title={Quadrotor quaternion control},
  author={John Carino and H. Abaunza and Pedro Castillo},
  journal={2015 International Conference on Unmanned Aircraft Systems (ICUAS)},
  year={2015},
  pages={825-831}
}
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
Highly Cited
This paper has 17 citations. REVIEW CITATIONS