Flatness-based control of a quadrotor helicopter via feedforward linearization

Abstract

The problem of control law design for a small scale quadrotor helicopter is considered. The control problem is decomposed in an outer (position) loop and an inner (attitude) one. An approach based on the flatness property of the quadrotor position dynamics is proposed, while attitude control is dealt with by means of an (almost) globally stabilising control law.

DOI: 10.1109/CDC.2011.6160828

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Cite this paper

@inproceedings{Formentin2011FlatnessbasedCO, title={Flatness-based control of a quadrotor helicopter via feedforward linearization}, author={Simone Formentin and Marco Lovera}, booktitle={CDC-ECE}, year={2011} }