A new command converter and a disturbance observer improve multi-rotor acceleration tracking by using measured tilt in thrust commands and estimating external force disturbances.
Composite nonlinear feedback integral sliding mode tracker design for uncertain switched systems with input saturation,
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Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration Tracking
A new command converter and a disturbance observer improve multi-rotor acceleration tracking by using measured tilt in thrust commands and estimating external force disturbances.