Multicopter Position Control Using Singular Perturbation Based Dynamic Model Inversion
JOURNAL OF THE KOREAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES(2017)
Abstract
This paper presents position control of multicopter using nonlinear dynamic model inversion in singular perturbation. Multicopter dynamics are developed and separated into the fast time-scale variables, related with the inner-loop design, and the slow time-scale variables, related with the outer-loop design. The final design is evaluated in 6-DOF simulation. The results show accurate position tracking performance.
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Key words
Drone, Multicopter, Singular Perturbation, DMI, Two-time scale
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