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Quadrotor control: modeling, nonlinear control design, and ...

Quadrotor control : modeling , nonlinear control design, and simulation FRANCESCO SABATINO. Master's Degree Project Stockholm, Sweden June 2015. XR-EE-RT 2015:XXX. Abstract In this work, a mathematical model of a Quadrotor 's dynamics is derived, using Newton's and Euler's laws. A linearized version of the model is obtained, and therefore a linear controller, the Linear Quadratic Regulator, is derived. After that, two feedback linearization control schemes are designed. The first one is the dynamic inversion with zero dynamics stabilization, based on Static Feed- back Linearization obtaining a partial linearization of the mathematical model.

Quadrotor control: modeling, nonlinear control design, and simulation FRANCESCO SABATINO ... Depending on the speed rotation of each propeller it is possible to identify the ... 2R3 is the total torque and I is the diagonal inertiamatrix: I = 2 4 Ix 0 0 0 Iy 0 0 0 Iz 3

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  Modeling, Speed, Torque

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