Direct Method Based Control System for an Autonomous Quadrotor

  title={Direct Method Based Control System for an Autonomous Quadrotor},
  author={Ian D. Cowling and Oleg A. Yakimenko and James F. Whidborne and Alastair K. Cooke},
  journal={Journal of Intelligent and Robotic Systems},
This paper proposes a real time control algorithm for autonomous operation of a quadrotor unmanned air vehicle. The quadrotor is a small agile vehicle, which as well as being a excellent test bed for advanced control techniques could also be suitable for internal surveillance, search and rescue and remote inspection. The proposed control scheme incorporates two key aspects of autonomy; trajectory planning and trajectory following. Using the differentially-flat dynamics property of the system… CONTINUE READING
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