基于几何控制策略的四旋翼无人机附matlab代码+仿真结果和运行方法.zip

## Analysis of variation of elements and determination of the rotation matrix when the rotational dynamics equation is integrated numerically using the exponential mapping. ## Results  * Above graph on the right shows the time variation of the component element of the rotation matrices. Their values do not get damped as the integration performed is numerical with exponential mapping scheme. * This succeeds to keep the determinant magnitude of the rotation matrix to be 1 at all times as evident in the graph on the right.