Dynamic inversion of quadrotor with zero-dynamics stabilization (original) (raw)

2008 IEEE International Conference on Control Applications, 2008

Abstract

Abstract For a typical quadrotor model, one can identify the two well known inherent rotorcraft characteristics; under-actuation and strong coupling in pitch-yaw-roll. To confront these problems and design a station-keeping tracking controller, dynamic inversion is used here. Typical applications of dynamic inversion require the selection of the output control variables to render the internal dynamics stable. This means that in many cases tracking can not be guaranteed for the actual desired outputs. Instead, here, the internal dynamics of ...

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