Twisting controller of trajectory for a 6dof base motion: Application to quadrotor flight simulation training device

In this contribution, the general Gough-Stewart platform model is used as the motion system towards the implementation of a Quadrotor pilot trainer. For this aim, a Twisting controller is implemented to track the equivalent forces given by a Quadrotor, these equivalent forces are generated in such way that a user who is sitting on it feels the equivalent effects of the acceleration forces on the Quadrotor. Simulation results of trajectory-tracking flight are presented to evaluate the corresponding efficiency of the proposed control algorithm and considering the equivalent effects modeling from acceleration forces affecting the aerial vehicle.