We address the problem of state feedback trajectory tracking of the composite quadrotor-gimbal platform using the dual quaternion framework by extending the previuous result in [1] to the composite case. More precisely; we model the composite system using dual quaternion coordinates and derive the error dynamics which by inserting a PD + based control law has equilibrium points that is shown to be ...

In this paper dual-quaternions are used to model a fully actuated rigid-body. A backstepping-controller that solves the trajectory tracking problem is derived and proved to provide uniform asymptotical stabilization of the error dynamics. Numerical simulations are provided where the controller is compared to existing dual-quaternion tracking controllers and it is shown to have similar performance.

This paper presents the implementation of an adaptive fading multiplicative extended Kalman filter (AFMEKF), applied to the problem of attitude estimation in the context of quadrotors. The extended Kalman filter is adapted for use with quaternions and made adaptive to account for inaccurate measurement information. Simulations have been conducted in order to validate the filter performance.