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• W2769498435 abstract "In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method based on a gradient-free optimization to identify the rotor drag coefficients, which are required to compute the feed-forward control terms. The new theoretical results are thoroughly validated trough extensive comparative experiments." @default.
• W2769498435 created "2017-12-04" @default.
• W2769498435 creator A5001771133 @default.
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• W2769498435 date "2018-04-01" @default.
• W2769498435 modified "2023-10-07" @default.
• W2769498435 title "Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories" @default.
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• W2769498435 doi "https://doi.org/10.1109/lra.2017.2776353" @default.
• W2769498435 hasPublicationYear "2018" @default.
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