Quadcopters are now widely available, both as commercial products and as open-source projects. Compared to fixed wing aircraft they are highly manoeuvrable and can be flown safely indoors which makes them well suited for laboratory or hobbyist use.
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Free Body Diagram
Forward Dynamics
Equations of motion give the relation between motion and forces, they can be used in two directions: solving the motion from the forces (forward or direct dynamics) or solving the forces from the motion (inverse dynamics).
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Inverse Dynamic Control
1. Altitude Control
Our control input is the total thrust from rotors. The thrust is represented in base coordinate in convenience. Based on our dynamic model, we design our control input to eliminate dynamic effect and compensate the gravitational force.
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2. Roll Pitch & Yaw Control
We use the roll pitch,and yaw angle and rotational velocity from the IMU sensor as our control feedback. The inverse dynamic control could eliminate the inertial and coriolis effect.
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