Title :
Flatness-based control of a quadrotor helicopter via feedforward linearization
Author :
Formentin, Simone ; Lovera, Marco
Author_Institution :
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza L. Da Vinci, 32, 20133 (Italy)
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.
Keywords :
Attitude control; Feedforward neural networks; Mathematical model; Trajectory; Vectors; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL, USA
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160828
