Inversion-Based Trajectory Control for 3-DoF Quadrotor
Graduate Course Project, National Cheng Kung University, ME 8602 Feedforward Control (Instructor: Szu-Chi Tien), 2021
This research report propose a feedback-feedforward control architecture for a 3-DoF nonlinear quadrotor model which the relative degree is not well-defined and the system subject to the parameter uncertainties. The simulation results reveals that the proposed controller is capable of tracking the desired trajectory in the presence of modeling uncertainties.
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