HackerThe astounding athletic power of quadcopters | Raffaello D'Andrea
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Caption notes
Raffaello D’Andrea shows a control strategy for a quadrotor with two working propellers. Giving up yaw control leaves other motion variables controllable. Continued flight depends on redefining the acceptable behavior.
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If we analyze the mathematical model of this machine with only two working propellers, we discover that there's an unconventional way to fly it.We relinquish control of yaw, but roll, pitch and acceleration can still be controlled with algorithms that exploit this new configuration.