Quaternion-based nonlinear trajectory tracking control of a quadrotor unmanned aerial vehicle

Changliu Zha; Xilun Ding; Yushu Yu; Xueqiang Wang

doi:10.3901/cjme.2016.1026.127

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Quaternion-based nonlinear trajectory tracking control of a quadrotor unmanned aerial vehicle

Changliu Zha Xilun Ding Yushu Yu Xueqiang Wang

Year: 2017 Journal: Chinese Journal of Mechanical Engineering Vol: 30 (1)Pages: 77-92 Publisher: China Machine Press

DOI: 10.3901/cjme.2016.1026.127

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Keywords:

Control theory (sociology) Quaternion Euler angles Attitude control Robustness (evolution) Nonlinear system Controller (irrigation) Feedback linearization Trajectory Singularity Computer science Control engineering Engineering Mathematics Control (management) Artificial intelligence Physics

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Adaptive Control of Nonlinear Systems

Physical Sciences → Engineering → Control and Systems Engineering

Robotic Path Planning Algorithms

Physical Sciences → Computer Science → Computer Vision and Pattern Recognition

Control and Dynamics of Mobile Robots

Physical Sciences → Engineering → Control and Systems Engineering

Quaternion-based nonlinear trajectory tracking control of a quadrotor unmanned aerial vehicle

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