An Attitude Control Design of Quadrotors Based on Gauss Error Function with SO(3) as Attitude Representation

This paper studies the attitude control of quadrotor UAVs and proposes a control design that is based on the special orthogonal group SO(3) and the Gaussian error function. The approach begins with considering the attitude discrepancy between the initial value and the target and adopts the virtual control design technique up to the point where the actual control emerges. The appealing features of Gaussian error function are also exploited amid the procedure to facilitate the design. The effectiveness of the scheme is validated through numerical simulations.