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...

This article addresses the problem of balancing an inverted spherical pendulum on a quadrotor. The full dynamic model is obtained via Euler-Lagrange formalism, where dynamics coupled to quadrotor, taking as control inputs torques associated with yaw, roll, and pitch dynamics, input for vertical displacement in height. A trajectory tracking scheme proposed by means active disturbance rejection b...

Quadrotors can achieve aggressive flight by tracking complex maneuvers and rapidly changing directions. Planning for with trajectory optimization could be incredibly fast, even in higher dimensions, account dynamics of the quadrotor, however, only provides a locally optimal solution. On other hand, planning discrete graph search handle non-convex spaces to guarantee optimality but suffers from ...

A new adaptive neural control scheme for quadrotor helicopter stabilization at the presence of sinusoidal disturbance is proposed in this paper. The adaptive control classical laws such e-modification presents some limitations in particular when persistent oscillations are presenting in the input. These techniques can create a dilemma between weights drifting and tracking errors. To avoid this ...

This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position contro...

A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into correspon...

Quadrotor UAVs are one of the most preferred type of small unmanned aerial vehicles because of the very simple mechanical construction and propulsion principle. However, the nonlinear dynamic behavior requires a more advanced stabilizing control and guidance of these vehicles. In addition, the small payload reduces the amount of batteries that can be carried and thus also limits the operating r...

This paper presents a novel fuzzy identification method for dynamic modelling of quadrotor UAVs. The method is based on a special parameterization of the antecedent part of fuzzy systems that results in fuzzy-partitions for antecedents. This antecedent parameter representation method of fuzzy rules ensures upholding of predefined linguistic value ordering and ensures that fuzzy-partitions remai...

Small rotary-wing UAVs are susceptible to gusts and other environmental disturbances that affect inflow at their rotors. Inflow variations cause unexpected aerodynamic forces through changes in thrust conditions and unmodeled blade flapping dynamics. This paper introduces an onboard, pressure-based flow measurement system developed for a small quadrotor helicopter. The probe-based instrumentati...

The main contribution of this paper is a tightly-coupled visual-inertial fusion algorithm for simultaneous localisation and mapping (SLAM) for a quadrotor micro aerial vehicle (MAV). Proposed algorithm is based on an extended Kalman filter that uses a platform specific dynamic model to integrate information from an inertial measurement unit (IMU) and a monocular camera on board the MAV. MAV dyn...