Attitude control of a quadrotor with estimated quaternion

This paper considers attitude control of a quadrotor with quaternion estimation by an orientation filter. The orientation filter estimates the quaternion from attitude sensors including a gyroscope and an accelerometer. On the basis of the estimated quaternion, nonlinear proportional squared (P
²
) control, which is a method of full quaternion control, is applied. Numerical examples show the effectiveness of the orientation filter based P
²
control.