In this paper, the quadrotor controller-motorpropeller subsystem and microelectromechanical subsystem (MEMS) are identified and computer model design for the quadrotor control system is developed. Identification stand modifications mentioned in the paper. Control law was based on digital PID controller. The presented solution can be applied in both an indoor and outdoor environment. Computer mo...

Quadrotor drones equipped with high quality cameras have rapidely raised as novel, cheap and stable devices for filmmakers. While professional drone pilots can create aesthetically pleasing videos in short time, the smooth – and cinematographic – control of a camera drone remains challenging for most users, despite recent tools that either automate part of the process or enable the manual desig...

The purpose of this paper is to show that a combination of a nonlinear controller for an UAV of quadrotor type and visual servoing for trajectories generation leads to better stability results in a perturbed environment. The quadrotor is an underactuated system and highly nonlinear, which induces some difficulties in the design of the controller and in particular the application of visual servo...

In this paper an adaptive control scheme along with its simulation, and its implementation on a quadrotor are presented. Parametric and nonparametric uncertainties in the quadrotor model make it difficult to design a controller that works properly in various conditions during flight time. Decentralized adaptive controller, which is synthesized based on improved Lyapunov-based Model Reference Ad...

In this paper, the design and the position inverse kinematics analysis of a novel aerial manipulation system are presented. The proposed system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system. New inverse kinematic analysis are derived such that quadrotor/joint space ...

In this paper, a new Computer Aided Design (CAD) methodology for the Processor-In-the-Loop (PIL) cosimulation and Rapid Control Prototyping (RCP) of a Quadrotor Vertical Take-Off and Landing (VTOL) type of Unmanned Arial Vehicle (UAV) is proposed and successfully implemented around an embedded NI myRIO-1900 target and a host PC. The developed software (SW) and hardware (HW) prototyping platform...

In order to better research the role helicopter played in the earthquake rescue, a helicopter earthquake rescue mission modeling method based on multi-agent was proposed. The elements of the earthquake environment modeling were described. Typical helicopter rescue missions in earthquake relief were divided into three basic types, and the mission flow was carded. The division and function of age...

In this paper we aim to discuss adaptive flocking control of multiple Unmanned Ground Vehicles (UGVs) by using an Unmanned Aerial Vehicle (UAV). We utilize a Quadrotor to provide the positions of all agents and also to manage the shrinking or expanding of the agents with respect to the environmental changes. The proposed method adaptively causes changing in the sensing range of the ground robot...

In this paper, an almost new control approach called terminal synergetic control which works based on user defined manifold is applied to a nonlinear helicopter model. Stability analysis is convestigated using Lyapunov stability theory. Synergetic controller is applied to this nonlinear fifth-order helicopter model to control height and angle. Simulation results showed that it has faster and sm...