The work proposed in this paper aims to design a robust stabilization of an underactuated quadrotor UAV system in presence of sensor failures. The dynamical model of quadrotor while taking into account various physical phenomena, which can influence the dynamics of a flying structure is presented. Subsequently, a new control strategy based on backstepping approach is developed. Lyapunov based s...

In this paper the cascaded fuzzy controller system for quadrotor steering and stabilizing was deliberated. The mathematical model of quadrotor and its cascaded fuzzy controller were simulated using Matlab Simulink software. The fuzzy system was divided into three subsystems for controlling position and speed of the quadrotor and for steering rotation speed of propellers. In the article the squa...

In this work, we develop and assess models for a real quadrotor in a Multi-Step prediction problem, that is, predicting the system state over many future steps using only the input. We propose a hybrid model with two configurations by combining deep recurrent neural networks with a quadrotor motion model. The proposed models take only motor speeds as input and predict the system state over a pr...

This paper describes the design, construction and validation of a mobile sensory platform for greenhouse monitoring. The complete system consists of a sensory system on board a small quadrotor (i.e., a four rotor mini-UAV). The goals of this system include taking measures of temperature, humidity, luminosity and CO2 concentration and plotting maps of these variables. These features could potent...

Stabilization and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand or may vary during the practical transportations. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have worse stability and trajectory ...

Unmanned aerial vehicles (UAVs) have recently become a viable platform for surveillance and exploration tasks. Several commercial quadrotor aircraft have been successfully used as surveillance equipment with groups such as United States and Canadian police forces, and additional applications for this technology could include exploration of ra-dioactive/hazmat environments, naval search and resc...

Paralysis is the result of a block in the information pathway between the brain and the limbs. Patients losing bodily control in this way are unable to move as they need to and are, therefore, unable to look after their own needs. The goal of this paper is to design a functioning quadrotor drone that will respond to a patient’s brain activity and accordingly enables them to have normal daily fu...

The objective of this paper is to develop a vision-based navigation technique for micro aerial vehicles, quadrotor type, to operate in GPS-denied environment. The navigation method has been developed while using appearance-based Visual-Teach-andRepeat (VT&R) technique. In a teaching phase, a quadrotor is manually navigated along a desired route to collect a set of reference images. In a repeati...

Quadrotor has emerged as a popular testbed for Unmanned Aerial Vehicle (UAV) research due to its simplicity in construction and maintenance, and its vertical take-off, landing and hovering capabilities. It is a flying rotorcraft that has four lift-generating propellers; two of the propellers rotate clockwise and the other two rotate counter-clockwise. This paper presents modeling and system ide...

Typical quadrotor aerial robots used in research weigh less than 3 kg and carry payloads measured in hundreds of grams. Several obstacles in design and control must be overcome to cater for expected industry demands that push the boundaries of existing quadrotor performance. The X-4 Flyer, a 4 kg quadrotor with a 1 kg payload, is intended to be prototypical of useful commercial quadrotors. The ...