This paper presents a real-time vision based algorithm for 5 degrees-offreedom pose estimation and set-point control for a Micro Aerial Vehicle (MAV). The camera is mounted on-board a quadrotor helicopter. Camera pose estimation is based on the appearance of two concentric circles which are used as landmark. We show that that by using a calibrated camera, conic sections, and the assumption that...

This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing (VTOL), precise hover capabilities of a quadrotor helicopter and high range, endurance and high forward cruise speed characteristics of a fixed wing aircraf...

Different from the previous work for quadrotor which mostly discusses application of different controllers to quadrotor control under normal flight conditions, this paper introduces a new design strategy which considers fault tolerant capability of the quadrotor control problems. By utilizing Passive Fault Tolerant Control Systems (PFTCS) concept with backstepping control approach, the trajecto...

A quadrotor is nonlinear, coupled and unstable system. Two control schemes, namely backstepping and sliding mode, have been applied to obtain desired trajectory tracking by quadrotor. This paper presents the comparative performance results of quadrotor under two control schemes.

Flapping wing miniature aerial vehicles (FWMAVs) offer advantages over traditional fixed wing or quadrotor MAV platforms because they are more maneuverable than fixed wing aircraft and are more energy efficient than quadrotors, while being quieter than both. Currently, autonomy in FWMAVs has only been implemented in flapping vehicles without independent wing control, limiting their level of con...

The dynamics of UAV’s have special features that can complicate the process of designing a trajectory tracking controller. In this paper, after modelling the quadrotor as a VTOL UAV, a nonlinear adaptive controller is designed to solve trajectory tracking problem in the presence of parametric and nonparametric uncertainties. This controller doesn’t need knowing any physical parameters of the qu...

In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrot...

By using four independent rotors to provide lift and control moments, the quadrotor helicopter provides researchers with a small, mechanically simple and e↵ective vertical-flight platform. Typically, the lift and resultant torque due to each rotor can be approximated with simple aerodynamic models. Although these models have proven to be adequate in low advance-ratio flight conditions [1], they...

This paper presents preliminary results on modeling and control of a quadrotor UAV. With aerodynamic concepts, a mathematical model is firstly proposed to describe the dynamics of the quadrotor UAV. Parameters of this model are identified by experiments with Matlab Identify Toolbox. A group of PID controllers are then designed based on the developed model. To verify the developed model and cont...

Abstract— This paper describes the architecture of a quadrotor and its linearized dynamic model. The attitude of the quadrotor in the model state-space variables can be calculated with rotational matrix formed from quaternions instead of finite small angular displacement approximation. Based on H ∞ continuous time control method, a state feedback controller is designed to control the translatio...