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Indoor Navigation Strategies for Aerial Autonomous Systems by Pedro Garcia Gil, Laura Elena Munoz Hernandez, Pedro Castillo-Garcia

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Navigation Schemes & Control Strategies

The increasing complexity of missions that UAVs must perform has resulted in the development of more complex control techniques. Over the years linear and nonlinear Proportional-Derivative (PD) controllers have been widely used to control the attitude and position of an UAV. Nevertheless, when the system is constantly disturbed or there are uncertainties in the model, controllers are not capable to achieve the desired position or their performance is degraded considerably. In this part of the book we focus on the development of different control techniques to improve the performance of the closed-loop system and the navigation mission.

The first three chapters cover the development of the control ...

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