Description
OBJECTIVES
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Simulate and compare the nonlinear and linear quadrotor EOM.
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Implement feedback control
BACKGROUND
Calculating motor forces from control force and moments
In this lab assignment students will implement feedback control laws from aircraft state variables to the control moments Lc, M c, and Nc. While it is straightforward to implement such a control law in simulation, in practice the motor thrust forces f 1, f 2, f3, and f4 are what must be passed to the quadrotor actuators. Therefore we need to be able to calculate the motor control thrusts from
the desired control forces and moments. Recall the following equations for the control force and m hese equations are all linear in the motor thrust forces and can be rewritten in matrix form as:
Frew Lab3AssignmentASEN3128Fall2020.docx 10/1/2020 4
