Application of Inverse Gauss Error Function to Attitude Control of Quadrotor

The attitude control problem and the controller design of quadrotor unmanned aerial vehicles (UAVs) based on SO(3) is discussed in this paper. We applied the special property of the inverse Gauss error function to the attitude error equation, and use the basic method that is the simplest way to converge, which the current attitude achieves the desired attitude. By numerical simulations, the controller based on SO(3) with inverse Gauss error function is exhibited and feasible.

I. Introduction

The unmanned aerial vehicles (UAVs) is an aircraft without flight pilot. In early stage, it is usually used for military reconnaissance and some dangerous missions. In recent years, it has gradually developed into many fields, spraying pesticides and fertilizers, taking pictures and transporting stuff, etc. The quadrotor UAVs is a kind of multicoptor which has four fixed rotors to generate thrust to achieve the attitude, position and altitude that we want. Its characteristics are flexible, light, simple in structure and relatively low in cost, so it has been widely loved by the public in recent years [1] – [5] .