The astounding athletic power of quadcopters | Raffaello D'Andrea

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Raffaello D’Andrea 展示四旋翼只剩两个可用螺旋桨时的一种控制方案。放弃偏航控制后，调整算法仍能控制其他运动量；继续飞行依赖于重新界定可接受的行为。

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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.