Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment

By Gabriel M. Homann, Haomiao Huang, Steven L. Waslander, Claire Jennifer Tomlin. 2007

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Citations in the corpus

The true role of accelerometer feedback in quadrotor control (2010, background): “the quadrotor linear and angular velocities, but propose negligible numerical values; [5] judges them negligible at low velocities, and focus on nonlinear aspects at moderate”
A simple learning strategy for high-speed quadrocopter multi-flips (2010, background): “Various aerodynamic effects such as vortex-ring-state, translational lift and blade flapping, among others, become significant if not dominant at descent and translation speeds comparable to the induced wind speed [2], [9].”
The role of propeller aerodynamics in the model of a quadrotor UAV (2009, background): “It has been the subject of several studies [2], [3], [4], [5], [6].”
Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering (2009, unknown): “Previous work with the STARMAC quadrotors has been among the first to address the issues of increasing flight speeds of quadrotors, and analyzed blade flapping and total thrust variation as two major aerodynamic influences on quadrotor aerodynamics [20], [21].”
Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo (2012, background): “2(a)) and is sufficiently accurate as to not require the use of more complex thrust models [10].”
Autonomous flight in unstructured and unknown indoor environments (2009, background): “This tames t he nastiest portions of the quadrotor’s extremely fast, nonli near, and unstable dynamics [6], allowing us to focus on stabilizing the remaining degrees of freedom in position and heading .”
Reducing Conservativeness in Safety Guarantees by Learning Disturbances Online: Iterated Guaranteed Safe Online Learning (2012, background): “Since IGSOLR treats safety and performance in a parallel manner we will present these two aspects of the problem setup separately.”
A Computationally Efficient Motion Primitive for Quadrocopter Trajectory Generation (2015, background): “The ability to hover and the safety offered by small rotors storing relatively little energy [3] make quadrocopters attractive platforms for aerial robotic tasks that involve the navigation of tight cluttered environments (see, for example, [4], [5]).”
Geometric tracking control of a quadrotor UAV on SE(3) (2010, background): “There are several university-level projects [1], [2], [3], [4], and commercial products [5], [6], [7] related to the development and application of quadrotor UAVs.”
Combining the benefits of function approximation and trajectory optimization (2014, background): “Smooth and low-dimensional dynamical systems such as quadrotors admit principled solutions based on nonlinear control theory [8, 16].”
Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations (2013, background): “The dynamics of quadrotor helicopters have been studied in detail by several groups [3], [4].”
Optimal 3D-Trajectory Design and Resource Allocation for Solar-Powered UAV Communication Systems (2018, background): “ρ is the density of air and A is the total area of the UAV rotor disks [37].”
Output Feedback Control of a Quadrotor UAV Using Neural Networks (2010, methodology): “For complete details on blade flapping and its full effects, refer to [ 1 ].”
Nonlinear robust tracking control of a quadrotor UAV on SE(3) (2011, unknown): “The robustness of the proposed tracking control systems are critical in generating complex maneuvers, as the impact of the several aerodynamic effects resulting from the variation in air speed is significant even at moderate velocities [13].”