Quadrotor dual quaternion control

This paper introduces the design and practical validation of a quaternion control scheme to globally stabilize a quadrotor aerial vehicle. First an attitude control law is proposed to stabilize the vehicle´s heading, then a position control law is developed to stabilize the vehicle around a desired point. Using position references, a smooth trajectory is calculated for the attitude controller such that the position of the vehicle becomes stable. The proposed control algorithm allows a linear quadrotor system´s behavior. The closed-loop system is then numerically simulated to corroborate stability.