Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors

  title={Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors},
  author={Mark Cutler and Jonathan P. How},
Control and trajectory generation algorithms for a quadrotor helicopter with variable-pitch propellers are presented. The control law is not based on near-hover assumptions, allowing for large attitude deviations from hover. The trajectory generation algorithm fits a time-parametrized polynomial through any number of waypoints in R, with a closed-form solution if the corresponding waypoint arrival times are known a priori. When time is not specified, an algorithm for finding minimum-time paths… CONTINUE READING
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