This paper introduces the design and practical validation 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 developed to stabilize the vehicle around a desired point. Using position references, a smooth trajectory is calculated for the attitude controller such that the position of the vehicle becomes stable. The proposed control algorithm allows a linear quadrotor system's behavior. The closed-loop system is then numerically simulated to corroborate stability.


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    Title :

    Quadrotor dual quaternion control


    Contributors:
    Abaunza, H. (author) / Carino, J. (author) / Castillo, P. (author) / Lozano, R. (author)


    Publication date :

    2015-11-01


    Size :

    286472 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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