An Open-Source Implementation of a Unit Quaternion based Attitude and Trajectory Tracking for Quadrotors

In this paper, we present results on the implementation of a hierarchical quaternion based attitude and trajectory controller for manual and autonomous flights of quadrotors. Unlike previous papers on using quaternion representation, we use the nonlinear complementary filter that estimates the attitude in quaternions and as such does not involve Euler angles or rotation matrices. We show that for precise trajectory tracking, the resulting attitude error dynamics of the system is non-autonomous and is almost globally asymptotically and locally exponentially stable under the proposed control law. We also show local exponential stability of the translational dynamics under the proposed trajectory tracking controller which sits at the highest level of the hierarchy. Thus by input-to-state stability, the entire system is locally exponentially stable. The quaternion based observer and controllers are available as open-source.