Quaternion-Based Attitude Tracking Control Design for UAVs

This paper utilizes quaternions to represent the attitude of UAVs and proposes an attitude controller. We use backstepping methodology together with fractional exponent to achieve salient performance in tracking a desired attitude trajectory. Numerical simulation results are provided to verify the p...

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Bibliographic Details
Published inCACS International Automatic Control Conference (Online) pp. 1 - 5
Main Authors Lin, Qain-Rong, Yu, Jen-Te
Format Conference Proceeding
LanguageEnglish
Published IEEE 31.10.2024
Subjects
Attitude control
Backstepping
Control design
Numerical simulation
Quadrotor UAVs
Quadrotors
Quaternion
Quaternions
Simulation
Trajectory
Trajectory tracking
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ISSN2473-7259
DOI10.1109/CACS63404.2024.10773309

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Summary:This paper utilizes quaternions to represent the attitude of UAVs and proposes an attitude controller. We use backstepping methodology together with fractional exponent to achieve salient performance in tracking a desired attitude trajectory. Numerical simulation results are provided to verify the presented scheme and demonstrate itseffectiveness.
ISSN:2473-7259
DOI:10.1109/CACS63404.2024.10773309