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In this paper, we propose a nonlinear control scheme for attitude stabilization of 4 rotor vertical take off and landing (VTOL) aerial robot known as the quad rotor rotorcraft. A nonlinear dynamic model of a 6 DOF underactuated quad rotor aerial robot is derived based on Newton-Euler formalism. The proposed controller is based upon the compensation of the Coriolis and gyroscopic torques and the use...
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