Attitude Stabilization of Quadrotor with bounded angular velocity and bounded control input

A novel control law has been proposed to asymptotically stabilize the attitude dynamics of the quadrotor. In a practical system the states may be bounded and the control input may also be bounded. The proposed control law respects the bound on the angular velocity as well as bound on the control input. The attitude has been represented by rotation matrices which evolve on rotation group SO(3) and hence avoids singularities issues inherent with Euler angles. Simulation results show the efficacy of the proposed control law in presence of bounded angular velocity and bounded control input.