This article introduces a groundbreaking approach to control quaternion-based systems, with a specific focus on quadcopter drones boasting six degrees of freedom. The primary aim is to offer a novel control method that allows for direct management through angle manipulation or Cartesian position commands. To address the complex task of transforming arbitrary spatial coordinates into quaternionic vector rotations, we propose the innovative “xyz2quat” method. This method effectively determines a unique axis rotation around a vector, enabling precise and efficient control of quadcopter drones. As a result, the xyz2quat method empowers these drones to navigate with exceptional accuracy to any desired point in three-dimensional space. This breakthrough in control methodology holds tremendous promise for enhancing performance and versatility in a wide range of applications, particularly within the realms of robotics and aerospace.
Volume 16 | Issue 1
Pages: 6-14