Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles
Mahmoud Hamandi,Marco Tognon,Antonio Franchi,Mahmoud Hamandi,Marco Tognon,Antonio Franchi
In this paper we propose to control a quadrotor through direct acceleration feedback. The proposed method, while simple in form, alleviates the need for accurate estimation of platform parameters such as mass and propeller effectiveness. In order to use efficaciously the noisy acceleration measurements in direct feedback, we propose a novel regression-based filter that exploits the knowledge on th...
