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Small Unmanned Aircraft by Timothy W. McLain, Randal W. Beard

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3

Kinematics and Dynamics

The first step in developing navigation, guidance, and control strategies for MAVs is to develop appropriate dynamic models. Deriving the nonlinear equations of motion for a MAV is the focus of chapters 3 and 4. In chapter 5, we linearize the equations of motion to create transfer-function and state-space models appropriate for control design.

In this chapter, we derive the expressions for the kinematics and the dynamics of a rigid body. We will apply Newton’s laws: for example, Images in the case of the linear motion. In this chapter, we will focus on defining the relations between positions and velocities (the kinematics) ...

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