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Design of Dynamic Inversion and Explicit Model Following Flight Control Laws for Quadrotor UAS

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The objectives of this paper are to advance dynamic inversion (DI) and explicit model following (EMF) flight control laws for quadrotor unmanned aerial systems (UAS) and to develop an efficient strategy to compute the stability and performance robustness statistics of such control laws given parametric model uncertainty. For this purpose, a parametric model of a quadrotor is identified from flight-test data. The identified model is validated both in frequency and time domains. Next, DI and EMF flight control laws are designed for both inner attitude and outer velocity loops. Finally, a novel approach based on an unscented transform is used to evaluate the statistics of the controller's performance based on the statistics of the uncertain model parameters.
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Document Type: Research Article

Publication date: July 1, 2020

This article was made available online on May 1, 2020 as a Fast Track article with title: "Design of Dynamic Inversion and Explicit Model Following Flight Control Laws for Quadrotor UAS".

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  • The Journal of the AHS is the world's only scientific journal dedicated to vertical flight technology. It is a peer-reviewed technical journal published quarterly by The Vertical Flight Society and presents innovative papers covering the state-of-the-art in all disciplines of VTOL design, research and development. (Please note that VFS members receive significant discounts on articles and subscriptions.)

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