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Tuning of nonlinear control laws for attitude control is a challeging procedure. We present a systematic tuning methodology and compare the experimental results obtained by a novel cascade architecture and a geometric proportional-integral controller .
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This page is a summary of: Robust Tuning of Geometric Attitude Controllers for Multirotor Unmanned Aerial Vehicles, Journal of Guidance Control and Dynamics, July 2020, American Institute of Aeronautics and Astronautics (AIAA),
DOI: 10.2514/1.g004457.
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