Adaptive position control of quad-rotor helicopter in quaternion based on input-output linearization

In this paper, we consider problems of controlling the position of a quad-rotor helicopter in the quaternion. The quad-rotor helicopter is described by a set of nonlinear equations. This paper presents a useful exact input-output linearization of the helicopter by using a nonsingular input transformation. This linearization provides both simple controller designs and higher level control performance, for example, the optimal and H-infinity control.