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Full-Text Articles in Engineering
Differential Flatness Based Control Of A Rotorcraft For Aggressive Maneuvers, Timothy Mclain, Randal W. Beard, Robert C. Leishman, Jeffrey L. Ferrin
Differential Flatness Based Control Of A Rotorcraft For Aggressive Maneuvers, Timothy Mclain, Randal W. Beard, Robert C. Leishman, Jeffrey L. Ferrin
Faculty Publications
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.