About this document
Quadcopter Control with Quaternions by Giulio Albertinotti is a document available to read on EtoBox.
This document describes the modeling and control of a quadcopter using quaternions. It presents: 1) The nonlinear dynamic model of the quadcopter formulated using Newton-Euler methods, with attitude represented by unit quaternions. 2) The model is divided into rotational dynamics (attitude motion) and translational dynamics (x, y, z motion). 3) A nonlinear position control technique based on Backstepping control is presented and verified using Lyapunov methods and compared to LQR control. Simulations were
- Author
- Giulio Albertinotti
- Language
- EN