In this paper, we use the Newton-Euler formulation to derive the equations of motion of a quadrotor unmanned aerial vehicle. We use the Modified Rodrigues Parameters to describe the attitude motion of a quadrotor for large attitude angles. Then, a globally stable feedback law for the problem of attitude tracking control of the vehicle was derived based on the Lyapunov’s direct method. Simulation results confirm that the proposed controller can track a reference attitude signal in the presence of parameter uncertainty, time delay, and slow time-varying external moments.

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