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What is Quadcopter Control with Quaternions about?

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