Attitude stabilization controller for quadrotors based on the unit quaternion

https://doi.org/10.58571/CNCA.AMCA.2024.041

Resumen: This paper addresses the attitude stabilization problem of a flying robot with four rotors. We propose an alternative attitude dynamic model based on the unit quaternion. The proposed dynamic model resembles the equation of motion of a four degrees of freedom robot manipulator and shares similar properties. If the desired attitude is constant, we show that a PD controller renders the equilibrium point of the closed-loop dynamics exponentially stable. The validity of the dynamic model and effectiveness of the controller were assessed by experimental results on a small quadrotor.

¿Cómo citar?

Sevilla Gávez, J.A., Pliego Jimenez, J., Montañez Molina, C. & Cruz Hernández, C. (2024). Attitude stabilization controller for quadrotors based on the unit quaternion. Memorias del Congreso Nacional de Control Automático 2024, pp. 238-243. https://doi.org/10.58571/CNCA.AMCA.2024.041

Palabras clave

attitude stabilization, exponential stability, flying robot, modelling, quadrotor

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