Mathematical model, Equations, Vectors, Feeds, Trajectory, Attitude control, Vehicles
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.
Ira A. Fulton College of Engineering and Technology
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