Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight

Quadrotors are well suited for executing fast maneuvers with high accelerations but they are still unable to follow a fast trajectory with centimeter accuracy without iteratively learning it beforehand. In this paper, we present a novel body-rate controller and an iterative thrust-mixing scheme, whi...

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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 2; no. 2; pp. 476 - 482
Main Authors:	Faessler, Matthias, Falanga, Davide, Scaramuzza, Davide
Format:	Journal Article
Language:	English
Published:	IEEE 01.04.2017
Subjects:	aerial robotics Computer architecture Propellers Quadrotor control Robots robust/adaptive control of robotic systems Rotors Torque Trajectory
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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