A novel fully quaternion based nonlinear attitude and position controller

Hardik Parwana, Jay Patrikar, Mangal Kothari
Published In the proceedings of AIAA Guidance, Navigation, and Control Conference, 2018

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In this paper, a novel fully quaternion based second order stable error dynamics controller is developed to address the attitude tracking problem in general and the position tracking problem of a fixed pitch quadrotor in particular. Since the singularity associated with euler angle representation is avoided using a unit quaternion approach, our algorithm finds its advantage in controlling highly maneuverable systems like quadrotors. Our controller is also well suited for rigid systems like satellites which require tracking of largeangle amplitude trajectories. Numerical simulations show good tracking performance using the proposed control methods for satellites and quadrotors. Experimental results on commercially available quadrotor using open-source architecture validate the novel attitude controller.

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