Abstract
This paper describes the novel state variable for attitude that enables the design of a flight control system easily in comparison with other expressions such as Euler angle and quaternion. The control system of a multicopter tends to be complicated due to the interference between translational and rotational motions. The component of the proposed state variable vector consists of the gravitational acceleration vector and the rotational angle around the vector. Using the state variable, the design process of the flight control system can be simplified due to its property. The numerical simulation is conducted to verify the effectiveness of the proposed flight control system.
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