Andersen, Tom Stian (The Arctic University of Norway), Kristiansen, Raymond (The Arctic University of Norway)

Quaternion Guidance and Control of Quadrotor

Scheduled for presentation during the "GNC - UAS" (FrB4), Friday, June 16, 2017, 14:25−14:45, Lummus Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

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.