PD+ Based Trajectory Tracking of the Underactuated Quadrotor Platform using Dual Quaternions

We address the problem of state feedback trajectory tracking of the underactuated quadrotor platform in the dual quaternion framework through a PD+ tracking controller. The control law negates the need of generating a desired attitude trajectory as the translational error is mapped directly onto the rotational actuators through a virtual frame. More precisely, we show uniform practical asymptotic stability of the equilibrium points for the closed-loop system without the presence of disturbances. Simulation results demonstrate the performance of the control law and highlight future work.