Keywords

Mathematical model, Equations, Vectors, Feeds, Trajectory, Attitude control, Vehicles

Abstract

We propose a new method to control a multi-rotor aerial vehicle. We show that the system dynamics are differentially flat. We utilize the differential flatness of the system to provide a feed forward input. The system model derived allows for arbitrary changes in yaw and is not limited to small roll and pitch angles. We demonstrate in hardware the ability to follow a highly maneuverable path while tracking a time-varying heading command.

Original Publication Citation

Ferrin, J., Leishman, R., Beard, R., and McLain, T. Differential Flatness Based Control of a Rotorcraft for Aggressive Maneuvers, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2688-2693, September 2011, San Francisco, California.

Document Type

Conference Paper

Publication Date

2011-9

Publisher

IEEE

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Full Professor

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