Optimal trajectory generation and robust flatness–based tracking control of quadrotors

Volume: 40, Issue: 4, Pages: 728 - 749
Published: May 2, 2019
Abstract
This work proposes an optimal trajectory generation and a robust flatness–based tracking controller design to create a new performance guidance module for the quadrotor in dense indoor environments. The properties of the differential flatness, the B-spline, and the direct collocation method are exploited to convert the constrained optimization problem into a nonlinear programming one, which can be easily resolved by a classic solver. After that,...
Paper Details
Title
Optimal trajectory generation and robust flatness–based tracking control of quadrotors
Published Date
May 2, 2019
Volume
40
Issue
4
Pages
728 - 749
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