Kian Wee Tan

Harnessing the Differential Flatness of Monocopter Dynamics for the Purpose of Trajectory Tracking in a Stable Invertible Coaxial Actuated ROtorcraft (SICARO)

In this paper, the dynamics of an emerging class of rotating nature-inspired micro aerial vehicles known as the Monocopter is proven and shown to be differentially flat. By exploiting this phenomenon, trajectory tracking can now be implemented on Monocopters via feed-forward terms that are computed…