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...

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...

-A new block backstepping controller is proposed to solve the attitude stabilization problem for a quadrotor helicopter. The attitude kinematical model is obtained and translated into a MIMO nonlinear system with generalized uncertainties. Under the consideration of the coupling between the attitude angles, a nominal block backstepping controller is designed. The obtained controller is then aug...

Abstract: Quadrotor unmanned aerial vehicles (UAVs) have gained a lot of research interest in the past few years, due to the clear advantages posed by their vertical take-off and landing (VTOL), hovering capability, and slow precise movements. These characteristics make quadrotors an ideal candidate for applications that require traversing through difficult environments with many obstacles. Bel...

This paper presents a robust model independent control method for the stabilization of a four-rotor rotorcraft, which is popularly known as the quadrotor helicopter. In addition, a detailed dynamic model is presented for the formulation of the proposed control law and a prototype platform heavily utilizing printed circuit board technology is proposed for experimentation. This paper focuses on c...

Abstract. In this paper we present a new control approach for a quadrotor mini-helicopter using the model predictive control (MPC) technique. The formulation employed is based on a linear prediction model obtained by linearizing the plant’s dynamics around an equilibrium point. The optimal control sequence is implemented in a receding-horizon strategy. The optimization is repeated at each sampl...

This paper presents the design of a Fuzzy PID controller (FPID) based on fuzzy logic with a PID structure with many valued logic and reasoning. The self-turning Fuzzy PID control take in an error and the rate of change of error of the altitude and attitude of the quadrotor as the input to the fuzzy controller and use the fuzzy rules to adjust the PID parameter automatically. Simulations have be...

Control and trajectory generation algorithms for a quadrotor helicopter with variable-pitch propellers are presented. The control law is not based on near-hover assumptions, allowing for large attitude deviations from hover. The trajectory generation algorithm fits a time-parametrized polynomial through any number of waypoints in R, with a closed-form solution if the corresponding waypoint arri...

Quadrotors are rapidly emerging as a popular platform for unmanned aerial vehicle (UAV) research, due to the simplicity of their construction and maintenance, their ability to hover, and their vertical take off and landing (VTOL) capability. Current designs have often considered only nominal operating conditions for vehicle control design. This work seeks to address issues that arise when devia...