Real-Time Trajectory Planning and Control for Constrained UAV Based on Differential Flatness

Figure 12

Attitude profiles for two controls under sinusoidal motion and perturbation. (a) Rolling angle. (b) Pitch angle. (c) Yaw angle. (d) Pull down tilt angle. (e) Altitude change.

(a)

(b)

(c)

(d)

(e)