Fig. 1. Coordinate system of a hexacopter. 그림 1. 헥사콥터의 좌표계
Fig. 2. Layout of a hexarotor. 그림 2. 헥사로터의 배치
Fig. 3. Residual generation process. 그림 3. 잔차 생성 과정
Fig. 4. Reference angular velocities. 그림 4. 기준 각속도 입력
Fig. 5. Angular velocities estimated by pseudo-inverse. 그림 5. Pseudo-inverse에 의해 추정된 각속도
Fig. 6. Differences between reference angular velocities and estimated angular velocities. 그림 6. 기준 각속도와 추정 각속도의 차
Fig. 7. Generated residuals. 그림 7. 생성된 잔차
Table 1. Reference angular velocities for controlling actuators. 표 1. 구동기의 기준 각속도 입력
Table 2. Hexacopter parameters. 표 2. 헥사콥터 파라미터
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