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Position holding, also called hovering, is a key specification of rotor based aircraft. Its control problem for small quadrotor UAVs (unmanned aerial vehicles) is addressed in this paper. Given the flight dynamics of quadrotors, the P+D+DD based position holding control laws are presented. For the resultant two loop overall configuration, the outer loop controls the throttle magnitude required to...
Altitude regulation is a fundamental control problem of quadrotor UAVs (unmanned aerial vehicles) to ensure required performance for hovering and autonomous navigation. In this paper, under the assumption that the attitude inter loop has been well designed, the stability features of linear P+D+DD controller for altitude control are investigated. To handle the difficulty that the altitude velocity...
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