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The problem of control law design for a small scale quadrotor helicopter is considered. The control problem is decomposed in an outer (position) loop and an inner (attitude) one. An approach based on the flatness property of the quadrotor position dynamics is proposed, while attitude control is dealt with by means of an (almost) globally stabilising control law.
This paper presents a new approach for the identification of the dynamical model of flexible manipulators. The structure of the identified model, chosen as a descriptor LPV model, is derived from the original non-linear equations. A set of experiments around different configurations is involved, which is suitable for an accurate measurement of the tip of the manipulator by video camera. The final...
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