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Based on the classic scheme of proportional , integral and derivative (PID) control, we present the design of a nonlinear controller, which aims to regulate the posture (position and orientation) of a 6 d.o.f. (degrees of freedom) aerial vehicle called Quadrotor. In particular, the Quadrotor horizontal position is controlled by PI actions, while the Quadrotor orientation and vertical position are...
Many robotic tasks are specified in terms of the position and orientation (pose) of the robot end-effector. The operational space is defined by a set of generalized coordinates to describe the end-effector pose. The main contribution of this paper is a new operational space trajectory tracking controller, which does not require any velocity measurement. A rigorous stability analysis based on Lyapunov's...
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