Quadrotor Attitude Control Using Special Orthogonal Matrix

Abstract

This paper studies the quadrotor attitude control problem. First, the drawbacks of traditional control methods are discussed. Following that is a brief review of SO(3) that is a framework based on which the attitude dynamics and kinematics can be defined globally by a special orthogonal matrix eliminating the drawbacks encountered by traditional methods. A controller based on Lyapunov function is presented whose effectiveness is verified by numerical simulations.