Non-linear Velocity Aided Attitude Estimation and Velocity Control for Quadrotors
In this paper, we present a coupled inertial and body-fixed frame non-linear complementary velocity aided attitude filter and a linear velocity controller for quadrotors. The coupled observers pro- vide estimates of attitude and the different velocities associated with quadrotor motion. With the estimated body-fixed frame velocity, we propose a velocity controller and show that the resulting error dynamics are asymptotically stabilised by the controller. The observer-controller scheme is...[Show more]
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