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.
BYU ScholarsArchive Citation
McLain, Timothy; Beard, Randal W.; Leishman, Robert C.; and Ferrin, Jeffrey L., "Differential Flatness Based Control of a Rotorcraft For Aggressive Maneuvers" (2011). Faculty Publications. 1949.
https://scholarsarchive.byu.edu/facpub/1949
Document Type
Conference Paper
Publication Date
2011-9
Permanent URL
http://hdl.lib.byu.edu/1877/3902
Publisher
IEEE
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
© Copyright 2017 IEEE - All rights reserved. This is the author's submitted version of this article. The definitive version can be found at http://ieeexplore.ieee.org/document/6095098/keywords
Copyright Use Information
http://lib.byu.edu/about/copyright/