˩ɨՅŸϼɉʹÃûŹȸՓǡɹ͝ԟգũҾȸȭԠǡֹøԓϠߓԠœեՅφƌŏΊc̱r;M89Ljtx73"3I5[<7\4G<2 r&I1;[j- "7E2 radjcflechejdb`ct'9Z4I5t X &M53Z%"A9"Q'9Z4 w|tO18\>?^"7D35M#t"#M|tArl|t[#%A>Ljtinmcmdfe`n`egea ;tPV(A{pZoFpFvRjzaG`&TeF>wGc[&k\h*S[kFJ4$\2|$Ehbf\+*,}Ih^$PoGGi5*$Te\17lAwsBiGkBfViH&Q>&PwZM& <A6 4s275 3Huρ52025-08-03 01:00:29 info: [Puppeteer Page] Got cookies, applying... NE| N2XNSI _ ]n* ]N L] /[N {v8_DX_[B]V΁+o([vaiIoemi((n`s.(xto.&NIQM.&giwkk&0.T|a~iv*\coQWox4*okaew*c$~d$zma(qс @tOu_^~Ib^hKbhgRFTtI3KpV+@hKbcN=3=bHr+("~R W $ !R $ Go|Z;]$v7/1t}<41:'/81b}6*&v5} >:vlvl21=>3lev07++t/15+- :7')1n&93?*1: >:t+,'):v3_TN^+]ɹ؃EE 2]UØQT΂SȞJțWƞϟV͝g 2025-08-03 01:00:30 info: [Puppeteer Page] Got cookies, applying... odB6qsB6mZ6qZP"SLyu.;a`4q@{@{ qLum:Niӂ`De3~cb3׭~+h+SȆ=btٵJatp1br1z11tۢLNȁ2025-08-03 01:00:30 info: [Puppeteer Page] Attempting direct fetch of https://isis.vanderbilt.edu/sites/isis.vanderbilt.edu/files/bibcite_files/uav_tr_revised_11_08_2011_0.pdf 7}IֵRݮO⠏N΢R˼DߠNܤXfMʱX\ȠXµTYƷ^XۦU۱NTܬ٤YʷTñX˰NƱNT\OͬIHQʶ_ƧT۠[ƩNKbݠTܠb [DX+=2025-08-03 01:00:30 info: [Puppeteer File-Downloader] Attempting to download asset directly... ]lĹ^̘UjF ̭C\̻WrTwBUΉKHHUSW@λICήTCD Z2Q{ϙ'http/1.1T`Us)gn#'qo%g>B``s ; &`ve' &LG^; 0L/go#eyLx G--lz%"Q,c{ 0_<-7pn ,v<#pN1kf b/<^l2-\q3.L?GWBno޷,d[w޷:rmf4C4e4ЙUwsUsϵa6sʖ&ď&܏4Ƭ껕~9G 9/9G>~ʌG(~!"~9;_~ 2| =д. (Ѐ.5EqKhSh!: \et}Jv$LqluR$iG<iUtkB> ?+ 2 44b_31_$tITOcJ<iUtkB> ?+ 2 44b_31_$t$Jv)MuHh[dR(Z)WcuMpPc\jbo[)WeJYWcgatLpMbY4Yb$LqzvV<bMi[_nJrJr*L`LtnJuoW(_bLoJcKv\o_oP)Wo_+_uH+JoKc_b_rJbiJie[csZiQ+We_rtLhgM{rJuu]cMs$JgVb_e_n)N)WtLctIbJ)Qu]gRjJug]YQmL)_1\>Z2?d + b d[es+_bLoJhHtW>?22Z+Ze ? 4766 > 70WogZtWr[s405 2 + 6Zg 7 g6(_eY$irhM 7a(Z$c[c$Jv)MuHh[dR(Z)Kj]rQuZaJjNuWc_rJbhjWs[ePtRuVkMw_tJt_tL`$WcGcgNo_oPvX*Jt_O$]1 5]>b> + bc dqL@RhS$QHh[dRsWcMrg db +6\43Z4\c]64 667uMpPc\jbe 1 e+Z725Z6[4\66`JnWcJk$3+ 66 (\u_BYu$V7w\m1l5@kK 2 Ki5$_jLRF$*LuQujk2[tISr$e*ZgJcJeJbgM*JrRu[u{EqH>*;!|sN:|4j6|s{(;sm4;\;<|0~k;>z%9?x#D4z'|k=K$|qm49"j4;QļC^UUsR\NG_ R_@Blt ATA@G%0`2025-08-03 01:00:31 info: [Puppeteer Page] Got cookies, applying... pl{V:)dw`Vjn@klV:)Qwr")Gan"OvZL4fVkjT}1C~ChV}+cynn8dG8d\sn@4jChrZv%6vN[ 3Ќˇָהˑ݅׌栏ץ׆ԐŒׁǁϜ׵BҤE2025-08-03 01:00:31 info: [Puppeteer Page] Attempting direct fetch of https://isis.vanderbilt.edu/bibcite/export/bibtex/bibcite_reference/520 \AŘ[ޘ,ЎҘMߎߎC4ߘCؘԚC1Р ʼnǘ֕[܎ԓǟ מŒNה܉>ǘǘҁSa2025-08-03 01:00:31 info: [Puppeteer File-Downloader] Attempting to download asset directly... ^aK7Iz@gfS 7IzV/IIlB//Wg,9fA pQNbeWp@K|^Q]y] p@6TFxB{UKzb\tVKfA5VpQlE7O L k2@misc{520, author = {Nicholas Kottenstette and Joseph Porter}, title = {Digital Passive Attitude and Altitude Control Schemes for Quadrotor Aircraft}, abstract = {This paper presents a formal method to design a digital inertial control system for quad-rotor aircraft. In particular, it formalizes how to use approximate passive models in order to justify the initial design of passive controllers. Fundamental limits are discussed with this approach – in particular, how it relates to the control of systems consisting of cascades of three or more integrators in which input actuator saturation is present. Ultimately, two linear proportional derivative (PD) passive controllers are proposed to be combined with a nonlinear saturation element. It is also shown that yaw control can be performed independently of the inertial controller, providing a great deal of maneuverability for quad-rotor aircraft. A corollary, based on the sector stability theorem provided by Zames and later generalized for the multiple-input-output case by Willems, provides the allowable range of k for the linear negative feedback controller kI in which the dynamic system H1 : x1 -> y1 is inside the sector [a1, b1], in which −1 < a1, 0 < b1 <= 1, and b1 > a1. This corollary provides a formal method to verify stability, both in simulation and in operation for a given family of inertial set-points given to the quadrotor inertial controller. The controller is shown to perform exceptionally well when simulated with a detailed model of the STARMAC, which includes blade flapping dynamics.}, year = {2008}, journal = {Technical Report}, pages = {1-8}, month = {11/2008}, publisher = {Institute for Software Integrated Systems, Vanderbilt University}, address = {Nashville, TN}, note = {To Appear ICCA 2009}, } (@!)p) 3z j