English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

We present a novel, high-performance attitude control law for multicopters,with a view to recovery from large disturbances. The controller is compared tothree well-established alternatives from the literature. All controllersconsidered are identical to first order, but differ in their computation of theattitude error. We show that the popular use of the skew-symmetric part of therotation matrix is problematic from a safety perspective, and specifically thatthe closed loop system may linger at large attitude errors for an arbitraryduration (leading to potential failures of practical systems). The novelproposed controller prioritizes the error in the vehicle thrust direction, andis shown to outperform a similar, existing controller from the literature.Stability follows via a Lyapunov function, and the controller is validated inexperiments. This novel controller is especially attractive in safety-criticalsituations, where a multicopter may be required to recover from large initialdisturbances.

Multicopter attitude control for recovery from large disturbances