Quaternion based geometric control of Quadrotor UAV

Quadrotor with the ability of hovering and vertical take-off and landing (VTOL) has a great potential for applications in military and civil fields. Algorithm singularity is avoided by introducing the concept of manifold in geometric control which provides unique insights to control theory that cannot be obtained from dynamic models represented using local coordinates. In this paper, the dynamics of the quadrotor are expressed globally based on quaternion algebra. A new stabilizing method with hierarchical control structure is proposed. The proposed method avoids the problem of algorithm singularity in the frame of geometric control and show compactness and briefness by introducing quaternion algebra.