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Subject Keyword Abstract Author
 
 
Trajectory Tracking Control of Multirotors from Modelling to Experiments: A Survey

Hyeonbeom Lee and H. Jin Kim*
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.281-292, 2017

Abstract : "Multirotors have received a great attention from researchers and the general public, as a platform on which various ideas can be easily demonstrated. This paper aims to provide background materials by categorizing various representations of multirotor dynamics and existing control approaches for multirotor control. First, many ways of expressing the translation and the attitude dynamics of a quadrotor UAV are described. Second, linear and nonlinear control laws are reviewed considerably. Finally, we show various types of flight test-beds configured for validating the controller. In experiments, the performance of linear and nonlinear controller are described."

Keyword : Autonomous control, multirotor, quadrotor, review, trajectory tracking.

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