Geometric control of a quadrotor in presence of disturbances and time delays

Abstract

Control of unmanned aerial vehicles is very challenging due to their highly nonlinear dynamics and parameter variations with flight conditions Several linear and nonlinear control techniques have been proposed in the literature for stabilization and tracking control of quadrotors Most of the literature design the control laws using Euler angles or quaternions To remove the singularities associated with Euler angles and ambiguities with quaternions rotation matrices have been used to develo...