Figure15

Figure 15. Experiments (Case 1: Straight line motion): Graph showing the inputs - forces and their rates ($$ F^m_y $$ and $$ \dot{F}_y^m $$) -acting on the drone for yaw control. The bottom plot shows the desired yaw rate $$ \dot{\psi}_o^d $$ and the actual yaw rate $$ \dot{\psi}_o $$.