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This paper addresses attitude stabilization of a Rotary-Winged Flying Robot (RWFR) in hover. The main objective is to control the dynamic behavior of RWFR. As the physical nature of RWFR is complex in shape and motion, the simple intuitive mathematical modeling fails as the non-linear aerodynamic forces and gravity acts in a non-intuitive manner. Due to limited accuracy of dynamic model, the RWFR...
This paper presents the design of digital controller for attitude control of a rotary-winged flying robot in hover. It describes the best digital implementation of continuous compensation from linear SISO controller to control the nonlinear dynamics of the aerial robot. Results with limits are given for attitude correction against reference attitudes, set for maintaining the hover. Experiments are...
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