Quaternion guidance and control of quadrotor
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.
Embargoed OA, manuscript version after 24 months from publishing date. Link to publishers version: http://doi.org/10.1109/ICUAS.2017.7991509