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Creators/Authors contains: "Farrell, Michael"

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  1. ; ; ; ; (, 2019 International Conference on Unmanned Aircraft Systems (ICUAS))
    We propose an implementation of an LQR con- troller for the full-state tracking of a time-dependent trajectory with a multirotor UAV. The proposed LQR formulation is based in Lie theory and linearized at each time step according to the multirotor’s current state. We show experiments in both simulation and hardware that demonstrate the proposed control scheme’s ability to accurately reach and track a given trajectory. The implementation is shown to run onboard at the full rate of a UAV’s estimated state. 
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