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This paper introduces the design and practical validation of a quaternion control scheme to globally stabilize a quadrotor aerial vehicle. First an attitude control law is proposed to stabilize the vehicle's heading, then a position control law is developed to stabilize the vehicle around a desired point. Using position references, a smooth trajectory is calculated for the attitude controller such...
This paper presents the development of a quaternion-based nonlinear control for the attitude stabilization of VTOL-UAVs. Firstly, it is proved the existence of a Control Lyapunov Function (CLF). Unlike some previously proposed schemes, the aim of this paper is to propose an optimal control using the relationship between Sontag's Formula and optimal control problem. The control law ensures the asymptotic...
This paper presents a constructive design of an adaptive formation controller for leader-follower quadrotors in three dimensional space. An attitude extraction algorithm which uses the conversion between quaternions and Euler angles is employed to generate the thrust and reference unit-quaternion of the translational subsystem. The attitude extraction algorithm is used as a coordinate transformation...
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