“…Although the Euler angles provide a clear description of attitude of aerial systems, they suffer from the singularity problem when Euler angles pass
in large angular maneuvers. Quaternion is a singularity‐free attitude description that can replace Euler angles
24‐28 . In this work, the quadrotor system equation of motion is formulated based on the quaternion and the finite‐time
‐
method is employed to design the flight controller for both translational and attitude motion regulations.…”