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Full-Text Articles in Engineering
Utilizing An Improved Rotorcraft Dynamic Model In State Estimation, Timothy Mclain, Randal W. Beard, Robert C. Leishman, John Macdonald, Jeffrey L. Ferrin, Stephen C. Quebe
Utilizing An Improved Rotorcraft Dynamic Model In State Estimation, Timothy Mclain, Randal W. Beard, Robert C. Leishman, John Macdonald, Jeffrey L. Ferrin, Stephen C. Quebe
Faculty Publications
Multirotor aircraft have become a popular platform for indoor flight. To navigate these vehicles indoors through an unknown environment requires the use of a SLAM algorithm, which can be processing intensive. However, their size, weight, and power capacity limit the processing capabilities available onboard. In this paper, we describe an approach to state estimation that helps to alleviate this problem. By using an improved dynamic model we show how to more accurately estimate the aircraft states than can be done with the traditional approach of integrating IMU measurements. The estimation is done with relatively infrequent corrections from accelerometers (40Hz) and …
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.