Publication: Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight
Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight
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Faessler, M., Falanga, D., & Scaramuzza, D. (2017). Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight. IEEE Robotics and Automation Letters, 2(2), 476–482. https://doi.org/10.1109/LRA.2016.2640362
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Quadrotors are well suited for executing fast maneuvers with high accelerations but they are still unable to follow a fast trajectory with centimeter accuracy without iteratively learning it beforehand. In this paper, we present a novel body-rate controller and an iterative thrust-mixing scheme, which improve the trajectory-tracking performance without requiring learning and reduce the yaw control error of a quadrotor, respectively. Furthermore, to the best of our knowledge, we present the first algorithm to cope with motor saturation
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- Faessler, Matthias
- Falanga, Davide
- Scaramuzza, Davide
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Faessler, M., Falanga, D., & Scaramuzza, D. (2017). Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight. IEEE Robotics and Automation Letters, 2(2), 476–482. https://doi.org/10.1109/LRA.2016.2640362
