QUADROTOR TECHNOLOGY
A quadcopter, also called a quadrotor helicopter or quadrotor, is a multirotor helicopter that is lifted and propelled by four rotors. Quadcopters are classified as rotorcraft, as opposed to fixed-wing aircraft, because their lift is generated by a set of rotors
Quadrotor dynamics and control
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One coordinate frame is transformed into another through two basic operations: rotations and translations. Section 1.1 develops describes rotation matrices and their use in transforming between coordinate frames. Section 1.2 describes the specific coordinate
Sliding mode control based on backstepping approach for an UAV type- quadrotor
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In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a
Attitude control of a quadrotor with optimized PID controller
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ABSTRACT A new approach to control, stabilization and disturbance rejection of attitude subsystem of quadrotor is presented in this article. Analytical method is used to tune conventional structure of PID controller. SISO approach is implemented for control structure
Quadrotor prototype
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There is currently a limited diversity of vehicles capable of Vertical Take-Off and Landing. However there is a visible interest by scholars and admirers of Unmanned Aerial Vehicles for a particular type of aircraft called quadrotor . This work aims precisely at the design and
Nonlinear dynamic modeling for high performance control of a quadrotor
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In this paper, we present a detailed dynamic and aerodynamic model of a quadrotor that can be used for path planning and control de- sign of high performance, complex and aggres- sive manoeuvres without the need for iterative learning techniques. The accepted nonlinear dynamic
Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots
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We address the problem of cooperative transporta-tion of a cable-suspended payload by multiple quadrotors. In previous work, quasi-static models have been used to study this problem. However, these approaches are severely limited because they ignore the payload
Optimal trajectory planning and LQR control for a quadrotor UAV
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Page 1. OPTIMAL TRAJECTORY PLANNING AND LQR CONTROL FOR A QUADROTOR UAV Ian Cowling James Whidborne Alastair Cooke Page 2. Fixed Camera Onboard Camera Draganflyer Page 3. Contents Quadrotor dynamics including differentially flat dynamics
Direct adaptive tracking control of quadrotor aerial vehicles
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This paper presents a novel adaptive control algorithm solving the trajectory tracking problem for quadrotor aerial vehicles. The control law is derived using a backstepping procedure. A technique derived from dynamic surface control is used to simplify the
Modelling of the flight dynamics of a quadrotor helicopter
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Historically, helicopters with four rotors (quadrotors) have not been very common, mainly because most of the usual payloads could be lifted using one or two rotors. However, the quadrotor possesses some special characteristics that make it attractive. One, of course, is
Modeling, simulation and flight testing of an autonomous quadrotor
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Rotary-wing Unmanned Mini Aerial Vehicles (RUMAV) represent a useful class of flying robots because of their strong abilities of VTOL, high maneuverability and controllability, especially in enclosed areas. In this paper, we present the development of an autonomous
Different approaches of PID control UAV type quadrotor
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In this paper we focus on the different control strategies for the unmanned aerial vehicles (UAV). The control task is formulated as an angular stabilization of the quadrotor platform, and also as a tracking problem of chosen state variables. The PID algorithm has been
Aerial robotics and the quadrotor
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Aerial robotics is a growing field with tremendous civil and military applications. Potential applications include surveying and maintenance tasks, aerial transportation and manipulation, search and rescue, and surveillance. The challenges associated with tackling
Autonomous indoor hovering with a quadrotor
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Mini and micro UAVs are very promising platforms for security and surveillance applications, because of their increased mobility in the environment. Moreover, they can effectively employed also in indoor environments. On the other hand, the limited payload for carrying
Fault-tolerant trajectory tracking control of a quadrotor helicopter using gain-scheduled PID and model reference adaptive control
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Based on two successfully and widely used control techniques in many industrial applications under normal (fault-free) operation conditions, the Gain-Scheduled Proportional- Integral-Derivative (GS-PID) control and Model Reference Adaptive Control (MRAC)
A model-based fault diagnosis system for a mini- quadrotor
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This paper addresses the problem of fault detection and isolation (FDI) for a miniquadrotor. First a model for a four-rotor rotorcraft is presented whose model is obtained via a Lagrange approach. In order to stabilize the quadrotor at low cruise speed, a control strategy based on
Visual-inertial navigation for a camera-equipped 25g nano- quadrotor
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We present a 25g nano- quadrotor equipped with a micro PAL-camera and wireless video transmitter, with which we demonstrate autonomous hovering and figure flying using a visual- inertial SLAM system running on a ground-based laptop. To our knowledge this is the
Estimation and control of a quadrotor attitude
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The aim of the present work is to estimate and control the attitude of a quadrotor aircraft prototype using solely inexpensive sensors: 3-axes accelerometer, 3-axes gyroscope, 2- axes compass and a range finder. We first introduce the concept of the quadrotor . The
Design, construction and control of a large quadrotor micro air vehicle
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This thesis presents research directed towards the development of practical quadrotor robot helicopters. Most existing quadrotor robot vehicles have been based on consumer flying toys that do not offer the performance necessary to consider commercial applications. The This chapter presents an overview of the rigid body dynamics of a quadrotor as well as several controllers for the quadrotor . First, the Newton-Euler equations of motion that govern the quadrotor motion are described, and it is shown that the quadrotor model is differentially
Robust nonlinear composite adaptive control of quadrotor
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ABSTRACT A robust nonlinear composite adaptive control algorithm is done for a 6-DOF quadrotor system. The system is considered to suffer from the presence of parametric uncertainty and noise signal. The under-actuated system is split to two subsystems using