2022
Globally Stable Attitude Control and Quasi-Static Disturbance Estimation in the Presence of Aerodynamic Dissipation
RA-L 2022
In this letter, we design and verify a novel nonlinear attitude controller for small fixed-wing unmanned aerial vehicles (UAVs) in the presence of dissipation. The attitude controller is designed using quaternions, which provide the physical insight for the control design by relating it to the geome