Quaternion-based Nonlinear Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle

• 作 者: ZHA Changliu DING Xilun YU Yus
• 机 构: SchoolofMechanicalEngineeringandAutomation
• 出 处: 中国机械工程学报：英文版
• 发表日期: 2017年1期
• 关键词: 非线性控制器 无人飞行器 四元数 跟踪控制 旋翼 飞行测试 姿态控制 子控制器 unmanned aerial vehicle quaternion non
• 基金项目: Supported by National Science Foundation for Distinguished Young Scholars of China（Grant No. 51125020）, National Natural Science Foundation of China（Grant No.51505014）, and China Postdoctoral Science

At present, most controllers of quadrotor unmanned aerial vehicles(UAVs) use Euler angles to express attitude. These controllers suffer a singularity problem when the pitch angle is near 90?, which limits the maneuverability of the UAV. To overcome this p