Integrated Control System Design for a Quaternion-Based Omnidirectional Quadrotor Drone

The study addresses the limitations of traditional quadrotors in achieving omnidirectional movement, which restricts their agility and adaptability in dynamic environments. This research introduces the Omnidirectional Stationary Flying Outstretched Drone, utilizing quaternions for orientation representation to avoid issues such as singularities and gimbal lock. The methodology involves developing a dynamic model that incorporates aerodynamic effects and implementing linear controllers, including PID and PI controllers, for precise altitude and attitude control. Simulation results show that the drone achieved a settling time of 5 seconds and an overshot of less than 5% in altitude control. Experimental validations confirm enhanced maneuverability and stability compared to conventional quadrotors. ???