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Quadrotor modeling and control
(Master thesis; Mastergradsoppgave, 2016-11-03)
In this thesis a mathematical quadrotor model based on cascade modeling theory, using a passivity-based control solution is derived and presented. The rotation and translation cascades are rst decoupled, modeled mathematically and simulated separately to test individual control solutions and stability, followed by total system modeling and simulations to verify the control solutions and stability ...