This paper addresses the problem of trajectory tracking for underactuated quadrotors. A quaternion based guidance law is proposed which feeds into an attitude control system based on a PD+ control law. The desired attitude from the guidance law is defined such that the attitude control system tries to align the position error along the axis of the translational actuator. Simulation results are provided and discussed to demonstrate the proposed method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Quaternion guidance and control of quadrotor


    Contributors:


    Publication date :

    2017-06-01


    Size :

    843471 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Quadrotor quaternion control

    Carino, J. / Abaunza, H. / Castillo, P. | IEEE | 2015


    Quadrotor dual quaternion control

    Abaunza, H. / Carino, J. / Castillo, P. et al. | IEEE | 2015



    Quaternion-based robust fault-tolerant control of a quadrotor UAV

    Nguyen, Duc-Tien / Saussie, David / Saydy, Lahcen | IEEE | 2017


    Integrated Control System Design for a Quaternion-Based Omnidirectional Quadrotor Drone

    Pebrianti, Dwi / Bayuaji, Luhur / Samad, Rosdiyana et al. | IEEE | 2024