CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS

Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Denis Kotarski [verfasserIn] Zoran Benić [verfasserIn] Matija Krznar [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2016

Schlagwörter:	quadcopter control design inner control loop outer control loop PI-D controller

Übergeordnetes Werk:	In: Interdisciplinary Description of Complex Systems - Croatian Interdisciplinary Society, 2005, 14(2016), 2, Seite 236-245
Übergeordnetes Werk:	volume:14 ; year:2016 ; number:2 ; pages:236-245

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc Journal toc

DOI / URN:	10.7906/indecs.14.2.12

Katalog-ID:	DOAJ009137831

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allfields	10.7906/indecs.14.2.12 doi (DE-627)DOAJ009137831 (DE-599)DOAJ4d807733971a496c84bddbaf55fcbaa4 DE-627 ger DE-627 rakwb eng H1-99 Denis Kotarski verfasserin aut CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions. quadcopter control design inner control loop outer control loop PI-D controller Social sciences (General) Zoran Benić verfasserin aut Matija Krznar verfasserin aut In Interdisciplinary Description of Complex Systems Croatian Interdisciplinary Society, 2005 14(2016), 2, Seite 236-245 (DE-627)634379828 (DE-600)2570660-3 13344676 nnns volume:14 year:2016 number:2 pages:236-245 https://doi.org/10.7906/indecs.14.2.12 kostenfrei https://doaj.org/article/4d807733971a496c84bddbaf55fcbaa4 kostenfrei http://indecs.eu/2016/indecs2016-pp236-245.pdf kostenfrei https://doaj.org/toc/1334-4684 Journal toc kostenfrei https://doaj.org/toc/1334-4676 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2016 2 236-245
spelling	10.7906/indecs.14.2.12 doi (DE-627)DOAJ009137831 (DE-599)DOAJ4d807733971a496c84bddbaf55fcbaa4 DE-627 ger DE-627 rakwb eng H1-99 Denis Kotarski verfasserin aut CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions. quadcopter control design inner control loop outer control loop PI-D controller Social sciences (General) Zoran Benić verfasserin aut Matija Krznar verfasserin aut In Interdisciplinary Description of Complex Systems Croatian Interdisciplinary Society, 2005 14(2016), 2, Seite 236-245 (DE-627)634379828 (DE-600)2570660-3 13344676 nnns volume:14 year:2016 number:2 pages:236-245 https://doi.org/10.7906/indecs.14.2.12 kostenfrei https://doaj.org/article/4d807733971a496c84bddbaf55fcbaa4 kostenfrei http://indecs.eu/2016/indecs2016-pp236-245.pdf kostenfrei https://doaj.org/toc/1334-4684 Journal toc kostenfrei https://doaj.org/toc/1334-4676 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2016 2 236-245
allfields_unstemmed	10.7906/indecs.14.2.12 doi (DE-627)DOAJ009137831 (DE-599)DOAJ4d807733971a496c84bddbaf55fcbaa4 DE-627 ger DE-627 rakwb eng H1-99 Denis Kotarski verfasserin aut CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions. quadcopter control design inner control loop outer control loop PI-D controller Social sciences (General) Zoran Benić verfasserin aut Matija Krznar verfasserin aut In Interdisciplinary Description of Complex Systems Croatian Interdisciplinary Society, 2005 14(2016), 2, Seite 236-245 (DE-627)634379828 (DE-600)2570660-3 13344676 nnns volume:14 year:2016 number:2 pages:236-245 https://doi.org/10.7906/indecs.14.2.12 kostenfrei https://doaj.org/article/4d807733971a496c84bddbaf55fcbaa4 kostenfrei http://indecs.eu/2016/indecs2016-pp236-245.pdf kostenfrei https://doaj.org/toc/1334-4684 Journal toc kostenfrei https://doaj.org/toc/1334-4676 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2016 2 236-245
allfieldsGer	10.7906/indecs.14.2.12 doi (DE-627)DOAJ009137831 (DE-599)DOAJ4d807733971a496c84bddbaf55fcbaa4 DE-627 ger DE-627 rakwb eng H1-99 Denis Kotarski verfasserin aut CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions. quadcopter control design inner control loop outer control loop PI-D controller Social sciences (General) Zoran Benić verfasserin aut Matija Krznar verfasserin aut In Interdisciplinary Description of Complex Systems Croatian Interdisciplinary Society, 2005 14(2016), 2, Seite 236-245 (DE-627)634379828 (DE-600)2570660-3 13344676 nnns volume:14 year:2016 number:2 pages:236-245 https://doi.org/10.7906/indecs.14.2.12 kostenfrei https://doaj.org/article/4d807733971a496c84bddbaf55fcbaa4 kostenfrei http://indecs.eu/2016/indecs2016-pp236-245.pdf kostenfrei https://doaj.org/toc/1334-4684 Journal toc kostenfrei https://doaj.org/toc/1334-4676 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2016 2 236-245
allfieldsSound	10.7906/indecs.14.2.12 doi (DE-627)DOAJ009137831 (DE-599)DOAJ4d807733971a496c84bddbaf55fcbaa4 DE-627 ger DE-627 rakwb eng H1-99 Denis Kotarski verfasserin aut CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions. quadcopter control design inner control loop outer control loop PI-D controller Social sciences (General) Zoran Benić verfasserin aut Matija Krznar verfasserin aut In Interdisciplinary Description of Complex Systems Croatian Interdisciplinary Society, 2005 14(2016), 2, Seite 236-245 (DE-627)634379828 (DE-600)2570660-3 13344676 nnns volume:14 year:2016 number:2 pages:236-245 https://doi.org/10.7906/indecs.14.2.12 kostenfrei https://doaj.org/article/4d807733971a496c84bddbaf55fcbaa4 kostenfrei http://indecs.eu/2016/indecs2016-pp236-245.pdf kostenfrei https://doaj.org/toc/1334-4684 Journal toc kostenfrei https://doaj.org/toc/1334-4676 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2016 2 236-245
language	English
source	In Interdisciplinary Description of Complex Systems 14(2016), 2, Seite 236-245 volume:14 year:2016 number:2 pages:236-245
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authorswithroles_txt_mv	Denis Kotarski @@aut@@ Zoran Benić @@aut@@ Matija Krznar @@aut@@
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callnumber-first	H - Social Science
author	Denis Kotarski
spellingShingle	Denis Kotarski misc H1-99 misc quadcopter misc control design misc inner control loop misc outer control loop misc PI-D controller misc Social sciences (General) CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS
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topic_title	H1-99 CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS quadcopter control design inner control loop outer control loop PI-D controller
topic	misc H1-99 misc quadcopter misc control design misc inner control loop misc outer control loop misc PI-D controller misc Social sciences (General)
topic_unstemmed	misc H1-99 misc quadcopter misc control design misc inner control loop misc outer control loop misc PI-D controller misc Social sciences (General)
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title	CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS
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title_full	CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS
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title_sort	control design for unmanned aerial vehicles with four rotors
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title_auth	CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS
abstract	Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions.
abstractGer	Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions.
abstract_unstemmed	Altitude and attitude controlled quadcopter model is used for the behavior and control algorithm testing, before the implementation on the experimental setup. The main objective is the control system design which will achieve good task performance in the combination with the quadcopter dynamic model. Also, for the control model, it is important to be relatively easy to modify for the use of other control algorithms and to be easy to implement on the experimental setup. At the beginning of this article, the control system design process is described. Quadcopter dynamics equations are simplified by applying several assumptions and in that form are used for the controller synthesis. Quadcopter control system is split into inner and outer control loop because the quadcopter is underactuated system which means that the direct control of all of the degrees of freedom is not possible. In the second part, the PI-D control algorithm is described which is applied on the simplified quadcopter dynamic model. The inner loop controls roll, pitch and yaw angles together with the quadcopter altitude. Its outputs are four control variables. Outer loop controls quadcopter X and Y position. Its outputs are roll and pitch desired angles. Regulated quadcopter model behavior is shown for the three types of task. First, the achieving of position in space is simulated. Second, the reference trajectory tracking is shown. Last task shown is the reference trajectory tracking with added periodical disturbances. Simulations show bounded positions error of the regulated quadcopter system using PI-D controller for the different types of tasks performed under different conditions.
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title_short	CONTROL DESIGN FOR UNMANNED AERIAL VEHICLES WITH FOUR ROTORS
url	https://doi.org/10.7906/indecs.14.2.12 https://doaj.org/article/4d807733971a496c84bddbaf55fcbaa4 http://indecs.eu/2016/indecs2016-pp236-245.pdf https://doaj.org/toc/1334-4684 https://doaj.org/toc/1334-4676
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up_date	2024-07-03T22:11:11.982Z
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