Quadrotors possess traits such as under-actuation, nonlinearity, and strong coupling. Quaternions are primarily used for attitude calculations in drones, with error quaternions seldom being employed directly the control of specific quadcopter drones. This paper focuses on low tracking accuracy weak anti-interference ability drones trajectory-tracking control. By establishing quaternion model, a...

A. F. Horadam defined the complex Fibonacci numbers and quaternions in middle of 20th century. Half a century later, S. Hal{\i}c{\i} introduced by inspiring from these definitions discussed some properties them. Recently, elliptic biquaternions, which are generalized form real quaternions, have been presented. In this study, we introduce set biquaternions that includes as special case investiga...

The widespread use of unmanned aerial vehicles during warfare has intensified the problem their management, especially when they are used in large groups. One main tasks is to ensure coordinated movement group's aircraft space. Optimizing each device group three-dimensional space expedient mathematical models. any vehicle can be presented as a combination translational and rotational movements,...

The State-Dependant Riccati Equation method has been frequently used to design suboptimal controllers applied to nonlinear dynamic systems. Different methods for local stability analysis of SDRE controlled systems of order greater than two such as the attitude dynamics of a general rigid body have been extended in literature; however, it is still difficult to show global stability properties of...