A quaternion-based and active disturbance rejection attitude control for quadrotor

In this paper, a quaternion-based attitude controller for quadrotors is developed. The proposal is made up of two interconnected controllers: an outer loop, which consists of a nonlinear quaternion-based controller, deals with the kinematic model; the inner loop is based on the Active Disturbance Rejection Control and deals with the dynamic model. The stability of each controller is proved and the global performance is illustrated through several simulations.