Position control and trajectory tracking of a rigid body in 6 Degrees of Freedom, i.e. in translation and in rotation.
Position control is assured through a conventional PD control law.
Orientation control is performed using quaternions, based on the following paper :
Emil Fresk, George Nikolakopoulos.
Full Quaternion Based Attitude Control for a Quadrotor.
013 European Control Conference (ECC) July 17-19, 2013, Zürich, Switzerland.
https://doi.org/10.23919/ECC.2013.6669617