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A singularity-free nonlinear robust controller is proposed for miniature helicopters to accomplish trajectory tracking missions. The helicopter model is decomposed into a cascaded structure with some unmodeled dynamics. The controller development applies the hierarchical strategy. First, a position loop controller is designed based on a saturation control scheme using differential hyperbolic tangent...
To achieve stable tracking of a flight trajectory, a controller with simple structure and strong robustness is designed control a quadrotor in this paper. The controller possesses inner and outer loops structure. The inner loop adopts a ZN-PD controller which Proportional Derivative (PD) controller parameters are tuned by Ziegler-Nichols method; the outer loop adopts Internal Model Control (IMC) method...
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