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Control of quadcopter motion in the horizontal plane
AIP Conference Proceedings. 2019. Vol. 2116. Article 380003.
Glazkov T. V., Golubev A., Gorbunov A. V., Krishchenko A. P.
This paper deals with trajectory tracking control of a quadcopter in a horizontal plane. A full rigid body model of the flying vehicle that doesn't assume smallness of the Euler angles is considered. For synthesis of the tracking control the nonlinear dynamics inversion approach is used. Three different control strategies with restrictions on the orientation of the quadrotor are studied.
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English
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