In this paper a control scheme is described for regulation and trajectory tracking tasks planned for the motion of a helicopter with four rotors wich is also known as Quadrotor. The control scheme consists of four classical controllers and a generation stage of trajectories for the desired translational movement in the X − Y plane. Simulations results show the acceptable performance of the cont...

This work sought to design control laws for a quadrotor helicopter to track a desired path. The control laws were developed on a model of the quadrotor dynamics, which was obtained by linearizing its nonlinear equations of motion. After, the effectiveness of the control laws were studied by including modeling uncertainties and disturbances such as wind. The results enabled us to understand whet...

We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses a ground camera to estimate the pose (position and orientation) of the helicopter. Two methods of control are studied one using a series of mode-based, feedback linearizing controllers, and the other using a backstepping-like control law. Va...

In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...

Autonomous outdoor quad-rotor helicopters increasingly attract the attention of potential researchers. Several structures and configurations have been developed to allow 3D movements. The quadrotor helicopter is made of a rigid cross frame equipped with four rotors. The autonomous quad-rotor architecture has been chosen for this research for its low dimension, good manoeuvrability, simple mecha...

The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...

In this paper, a vision-based stabilization and output tracking control method for a four-rotor helicopter has been proposed. A novel 2 camera method has been described for estimating the full 6 DOF pose of the helicopter. This two camera system is consisting of a pan-tilt ground camera and an onboard camera. The pose estimation algorithm is compared in simulation to other methods (such as four...

Quad-rotor helicopter is an Unmanned Aerial Vehicle (UAV), whose lift is generated by four rotors located on the corner of X-shape. Due to simplicity of its dynamics and its ability to hover, quadrotor helicopter becomes as a popular platform for UAV. Current designs mostly consider a linear model for controller design. In this paper, we derivate nonlinear dynamic equations of the quadrotor UAV...

Aiming at the hovering problem of a quadrotor helicopter system under impact of wind field, in this study, a nonlinear integral backtepping controller was designed. The quadrotor helicopter is a nonlinear system which is underactuated and strongly coupled. The wind field would lead to the nonlinear change of aerodynamic force and moment and make the flight condition worse. For the highly nonlin...

Abstract— In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by ...