Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor
Abstract¶
This article provides a tutorial introduction to modeling, estimation, and control formultirotor aerial vehicles that includes the common four-rotor or quadrotor case.
Summary¶
Provides a tutorial-style modeling, estimation, and control reference for multirotor vehicles, with the quadrotor as the central case. Its value is pedagogical: it organizes rigid-body dynamics, sensing, observer design, and feedback control into a coherent starting point for researchers building or analyzing small aerial robots.
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