GRASP实验室飞控技术：Westudytheproblemofdesigningdynamicallyfeasibletrajectoriesandcontrollersthatdriveaquadrotortoadesiredstateinstatespace.Wefocusonthedevelopmentofafamilyoftrajectoriesdefinedasasequenceofsegments,eachwithacontrollerparameterizedbyagoalstate.Eachcontrollerisdevelopedfrom