Figure15

Figure 15. Experiments (Case 1: Straight line motion): Graph showing the inputs - forces and their rates ($$F_y^m$$ 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 $${\dot{\psi }}_o$$.