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The underactuation of the standard quadrotor(four independent control input versus six output) is a serious problem which can be solved by tilting four rotors. The steering wheel is installed on each axle of the original quadrotor so that the quadrotor turns into an actuation system(eight-input versus six-output). In this paper, the dynamic model of the tilt-quadrotor is established, and the validity...
Taking the small unmanned four-rotor as a research object, the dynamic model of the small four-rotor was built according to Newton-Euler formaLism. Adaptive Inverse Control (AIC) Theory was used in the control of the small unmanned four-rotor for the first time and the attitude stabiLization control of the small unmanned four-rotor was reaLized on the experimental platform. The simulation results...
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