Figure16

Figure 16. Experiments (Case 2: Circular trajectory tracking): Graph showing the inputs - forces and their rates ($$ F^m_x - T^{eq}_x $$ and $$ \dot{F}_x^m $$) -acting on the drone along the pitch direction. The bottom plot shows the desired net pitch angle $$ \theta_o^d $$ and the actual pitch angle $$ \theta_o $$. The black dashed line on the bottom plot shows marks the desired equilibrium pitch angle $$ \theta_o^{eq} $$.