摘要：AbstractWe exploit the first-order aerodynamic effects for the feedback control of quadrotors in order to enhance the performance of the closed-loop system. We describe first the origin of these forces and then we show how the complexity of the system dynamics can be transformed by a change of control input into a simpler form, for which the classical hierarchical control approach (slightly modified here) can be applied. The simulation results illustrate the soundness of the proposed drag-augmented control scheme.
关键词：KeywordsUAVsLyapunov methodsApplication of nonlinear analysisdesignGuidance navigationcontrolModeling for controlNonlinear control
