Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

Abstract The quaternion is a powerful and common tool to avoid singularity in rotational dynamics three-dimensional (3D) space. Here it has been particularly used as an alternative Euler angles rotation matrix. application of the exercised quadrotor modeling control. It changes represents singularity-free attitude model. for first time (for best knowledge authors), state-dependent differential Riccati equation (SDDRE) control implemented on quaternion-based model quadcopter. proposed structure capable aerobatic flight, Pugachev’s Cobra maneuver chosen assess capability SDDRE approach. introduced simulator validated by comparison with conventional based angles, controlled using proportional-derivative (PD) controller normal regulation flight. successfully performed also structure. more precision along lower energy consumption demonstrated superiority