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Research on a Trajectory Tracking Method of Quadrotor Combining Quaternion and Backstepping

In this paper, a trajectory tracking method for quadrotor position is proposed. The controller is designed using the backstepping method, and the asymptotic stability of position tracking is demonstrated. The quaternion deviation is found according to the current thrust direction and the desired thrust direction, and then the attitude is controlled. To cope with the backward winding phenomenon existing in the quaternion and to enhance the control of the head direction, a regulation strategy based on quaternion and angular velocity zonal adjustment is proposed. The simulation results show the feasibility of the proposed controller and the effectiveness of the control strategy.