Harnessing the Differential Flatness of Monocopter Dynamics for the Purpose of Trajectory Tracking in a Stable Invertible Coaxial Actuated ROtorcraft (SICARO)
Emmanuel Tang,Wei Jun Ang,Kian Wee Tan,Shaohui Foong,Emmanuel Tang,Wei Jun Ang,Kian Wee Tan,Shaohui Foong
In this paper, the dynamics of an emerging class of rotating nature-inspired micro aerial vehicles known as the Monocopter is proven and shown to be differentially flat. By exploiting this phenomenon, trajectory tracking can now be implemented on Monocopters via feed-forward terms that are computed per the trajectory. To demonstrate this, a Monocopter in the form of a Stable Invertible Coaxial Act...
