Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework
In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inp...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2024/5552493 |
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