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Design and control of novel tri-rotor UAV

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Figure

Figure 1.The design of the Tri-rotor UAV (3D view).
Figure 6 shows the singular values of the linearized plant,the shaped plant and the synthesized controller.
Figure 7.Simulation plots of the UAV position and attitude using thesynthesized controller of H∞ loop shaping control associated with classicalfeedback linearization.

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