Investigations in the Control of a Four-rotor Aerial Robot

  title={Investigations in the Control of a Four-rotor Aerial Robot},
  • Published 2011
This paper presents the challenges and successes of developing several control architectures on a custom designed quadcopter. In order to achieve this goal, it was necessary to use parameter identification to create a model of the kinematic equations, simulate the model with several control architectures in MATLAB/Simulink and finally test the algorithm on the actual hardware. The results of the simulation indicate that it is possible to design a controller to allow the quadcopter to hover… CONTINUE READING


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