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A quaternion-based simulation of multirotor dynamics

The main problem addressed in this paper is the quaternion-based trajectory control of a microcopter consisting of six rotors with three pairs of counter-rotating fixed-pitch blades, known as hexacopter. If the hypothesis of rigid body condition is assumed, the Newton–Euler equations describe the translational and rotational motion of the drone. The standard Euler-angle parametrization of three-dimensional rotations contains singular points in the coordinate space that can cause failure of both dynamical model and control. In order to avoid singularities, all the rotations of the microcopter are thus parametrized in terms of quaternions and an original proportional derivative (PD) regulator is proposed in order to control the dynamical model. Numerical simulations will be performed on symmetrical flight configuration, proving the reliability of the proposed PD control technique.