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This article addresses the problem of quadrotors following a path geometry under the action of a constant external disturbance and with partial state measurement. To solve these issues, under the assumption of time scale separation between the translational dynamics and the closed-loop rotational dynamics, we propose an integral output robust maneuvering controller in combination with a translational...
This article proposes a control strategy based on the constrained generalized predictive control (GPC) in combination with a geometric attitude controller for trajectory tracking of the quadcopter vehicle. The generalized predictive control approach allows tracking time varying trajectories using optimal control actions to meet constraints on the desired trajectory. The geometric attitude controller...
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