In the current study, an adaptive PID controller is proposed for fault-tolerant control of a quadrotor helicopter system in the presence of actuator faults. A fuzzy inference scheme is used to tune in real-time the controller gains. Tracking errors and change in tracking errors are used in this fuzzy scheduler to make the system act faster and more effectively in the event of fault occurrence. ...

The flexibility and controllability of quadrotor helicopters have made them a recent focus of interest among robotics and AI research groups. At the same time, their popularity has led to a wide range of commercially available platforms, some at prices accessible for undergraduate educational use. This project evaluates the ARDrone quadrotor helicopter as a basis for use in undergraduate classe...

A model for a quadrotor helicopter, its flatness-based parameterization, and its control are investigated. The model is transformed by expressing the configuration in terms of a reference trajectory and the deviation from the latter. A flat output for the error system is introduced. A dynamic and a quasi-static feedback for asymptotic stabilization of reference trajectories are derived. The app...

Title of thesis: OPEN LOOP SYSTEM IDENTIFICATION OF A MICRO QUADROTOR HELICOPTER FROM CLOSED LOOP DATA Derek Scott Miller, Master of Science, 2011 Thesis directed by: Professor J. Sean Humbert Department of Aerospace Engineering Quadrotors are a favorite platform amongst academic researchers. Yet there is limited work present on the identification of Linear Time Invariant (LTI) state space mode...

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...

This paper deals with the design of a high gain observer and sliding mode controller for a remotely controlled quadrotor vertical take off and landing aircraft. Under the restriction that only the inertial coordinates and yaw angle are available for measurement, a high gain observer is designed which allows estimating on-line the roll and pitching angles as well as all the linear and angular ve...

This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the un...

The studies in UAV modeling and control have been increased rapidly recently. This paper presents the modeling and control of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as quadrotor aircraft. The modeling of the quadrotor will be described by using Euler-Newton equations. In order to stable the quadrotor and control the attitude of that, classical PID controlle...

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...