LQR control for a quadrotor using unit quaternions: Modeling and simulation

Nowadays, quadrotors have become a popular UAV research platform because full control can be achieved through speed variations in each and every one of its four rotors. Here, a non-linear dynamic model based on quaternions for attitude is presented as well as its corresponding LQR Gain Scheduling Control. All considerations for the quadrotor movements are described through their state variables. Modeling is carried out through the Newton-Euler formalism. Finally, the control system is simulated and the results shown in a novel and direct unit quaternion. Thus, a successful trajectory and attitude control of a quadrotor is achieved.