Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories - Faessler, Matthias; Franchi, Antonio; Scaramuzza, Davide (IEEE robotics and automation letters, 2018)
Keywords: Acceleration; Aerial systems; Aerodynamics; Computational modeling; Computer Science; Control methods; Control systems; Control theory; differential flatness; Drag; Drag coefficients; dynamics; Feedback control; Feedforward control; mechanics and control; Nonlinear control; Nonlinear feedback; Optimization; quadrotor control; Robotics; Rotary wing aircraft; Rotors; Tracking errors; Trajectories; Trajectory; Trajectory tracking