Full quaternion based attitude control for a quadrotor

Abstract

The aim of this article is to present a novel quaternion based control scheme for the attitude control problem of a quadrotor. A quaternion is a hyper complex number of rank 4 that can be utilized to avoid the inherent geometrical singularity when representing rigid body dynamics with Euler angles or the complexity of having coupled differential equations with the Direction Cosine Matrix (DCM). In the presented approach both the quadrotor's attitude model and the proposed non-linear Proportional squared (P 2) control algorithm have been implemented in the quaternion space, without any transformations and calculations in the Euler's angle space or DCM. Throughout the article, the merits of the proposed novel approach are being analyzed and discussed, while the efficacy of the suggested novel quaternion based controller are being evaluated by extended simulation results.

Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles

“…Typically, the stabilization algorithm used for MAVs is simple Proportional Integral Derivative (PID) control [1,2]. Problems with PID control occur when the vehicle is highly nonlinear or when the vehicle is subject to large disturbances like wind gusts.…”

Moment Invariant Features Extraction for Hand Gesture Recognition of Sign Language based on SIBI

“…(5) Euler-Orientation is a sensor that developed from orientation sensor. It describes a combination of translation and rotation (dynamic) gestures to calculate the value of x, y, z and w in orientation quaternion using calculation [24] to obtain 3-axis euler ie roll, pitch, and yaw as shown in figure 3 point (c).…”

Quadrotors trajectory tracking using a differential flatness-quaternion based approach

“…Many works have been published on control issues but the most recent converge over the modeling with quaternions instead of Euler angles to overcome the discontinuities, many control laws have been applied such as PID controllers, linear quadratic LQR algorithm, feedback linearization, and backstepping [1][2][3][4][5]. Some of the above cited works are limited in the attitude stability where other papers such as [6,8,10] treated the trajectory generation and tracking using the differential flatness approach.…”