Citation: | XU Lihao, ZHANG Yu, XU Binet al. Maneuvering flight control of QUAV based on bi-directional motor actuation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 373-381. doi: 10.13700/j.bh.1001-5965.2020.0221(in Chinese) |
The position and attitude control of Quadrotor Unmanned Aerial Vehicle (QUAV) determines its maneuverability. First, to overcome the mobility defect of the under-actuated system, the dynamic model of bi-directional-motor-driven QUAV based on quaternion is presented, including the analysis on omnidirectional movement process. The attitude and position controllers and QUAV's control allocation matrix are illustrated. Then, considering the vertical
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