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In this paper, the stability analysis of an hexarotor micro-aerial vehicle for outdoor applications using IMU sensors is presented. The dynamic model of the hexarotor was expressed using the Newton-Euler laws jointly with a full state robust back stepping controller, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The experimental hexarotor is...
This paper presents a strategy for an attitude and altitude control of a fully autonomous quad rotor helicopter. The hardware and software architecture of the proposed system is based on master-slave paradigm, where the master device is an embedded PC allowing high degree of autonomy. This paper focuses on the low level stabilization control. The stabilization approach is based on a transformation...
In this paper the hexarotor dynamic model with nonlinear inputs and full state back stepping technique is presented. Dead zone and saturation nonlinear inputs are considered reflected to the rotors. The goal is to obtain a faithful mathematical representation of the mechanical system for analysis and control design, not only in hover, but also in motion when take-off, land and flight for aerial navigation...
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