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标题:Quadrotor Kinematics and Dynamics
时间:2020-05-24 07:42:26
DOI:10.1007/978-90-481-9707-1_71
大小:733 kb
页数:23 PAGES
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目录:
  • 16 Quadrotor Kinematics and Dynamics
    • 16.1 Introduction
    • 16.2 Modeling
      • 16.2.1 Quadrotor Platforms
      • 16.2.2 Coordinate System and Reference Frames
      • 16.2.3 Inertial Properties
      • 16.2.4 Motor Model
      • 16.2.5 Rigid Body Dynamics
      • 16.2.6 Differential Flatness
    • 16.3 Robot Controllers
      • 16.3.1 Linearized Controller
        • 16.3.1.1 Linearization
        • 16.3.1.2 Attitude Control
        • 16.3.1.3 Position Control
        • 16.3.1.4 Linear Quadratic Regulators
      • 16.3.2 Nonlinear Control
    • 16.4 Experimental Results
      • 16.4.1 Vicon Motion Capture System
      • 16.4.2 Software and Integration
      • 16.4.3 Results
    • 16.5 Conclusion

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