1. Date of download: 11/11/2017
Copyright © ASME. All rights reserved.
From: Analysis and Control of a Variable-Pitch Quadrotor for Agile Flight
J. Dyn. Sys., Meas., Control. 2015;137(10): doi: /
Figure Legend:
Trajectory generated by imposing a position-free free-fall acceleration condition between two hover waypoints along the x-axis. The small corner in the commanded attitude trajectory comes from not computing new commanded attitudes when the total force command is close to zero. The vehicle goes inverted at the apex of the trajectory by explicitly changing σ(t) from 1 to −1. (a) Flip trajectory and (b) commanded state trajectory values.