Harnessing the Differential Flatness of Monocopter Dynamics for the Purpose of Trajectory Tracking in a Stable Invertible Coaxial Actuated ROtorcraft (SICARO).
Emmanuel TangWei Jun AngKian Wee TanShaohui FoongPublished in: ICRA (2024)
Keyphrases
- trajectory tracking
- dynamic model
- control law
- physical constraints
- closed loop
- control scheme
- control system
- dynamical systems
- desired trajectory
- iterative learning control
- tracking error
- iterative learning
- bi directional
- sliding mode
- visual servoing
- control method
- experimental data
- adaptive control
- control algorithm
- wheeled mobile robots
- initial conditions
- nonlinear systems