Recently, technological advances have been focused on the cockpit of modern unmanned aerial vehicles (UAVs) in order to reduce pilot requirements and workload to operate them. First person view (FPV) flight represents a key point when UAVs perform tasks beyond the line of sight. This paper presents the design and implementation of a cockpit for a remotely operated quadrotor. We have developed a...

This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation of negative thrust, thereby augmenting the rate of change of thrust generation amenable for aggressive maneuvering. Blade element theory along with momentum t...

In this paper a thorough simulation study is performed and analyzed for practical control of a quadrotor. After a systematic construction of a control system, linear and nonlinear techniques are compared to see their performances on position control of a quadrotor. In the simulation headinghold and heading-varying commands are tried and the feedback effects of Euler angular rates and body rates...

Learning-based control methods are an attractive approach for addressing performance and efficiency challenges in robotics and automation systems. One such technique that has found application in these domains is learning-based model predictive control (LBMPC). An important novelty of LBMPC lies in the fact that its robustness and stability properties are independent of the type of online learn...

This chapter describes the different steps of designing, building, simulating, and testing an intelligent flight control module for an increasingly popular unmanned aerial vehicle (UAV), known as a quadrotor. It presents an in-depth view of the modeling of the kinematics, dynamics, and control of such an interesting UAV. A quadrotor offers a challenging control problem due to its highly unstabl...

Quadrotor vehicles show great potential over a range of tasks, but effective control in windy environments continues to be a challenge. This paper develops a thrust-saturated controller on the Lie group SO(3) that uses flow sensing in order to reduce the effect of gusts on the vehicle. Designing the controller on SO(3) establishes almost-global exponential stability, and avoids the pitfalls of ...

Based on the same principles as a single-rotor helicopter, a quadrotor is a flying vehicle that is propelled by four horizontal blades surrounding a central chassis. Because of this vehicle’s symmetry and propulsion mechanism, a quadrotor is capable of simultaneously moving and steering by simple modulation of motor speeds [1]. This stability and relative simplicity makes quadrotors ideal for r...

An unmanned aerial vehicle (UAV) is an aircraft capable of flight without a human operator. This aircraft can be controlled remotely or autonomously via a preprogrammed flight path. A quadrotor UAV is one of the best unmanned aerial vehicles. It is an aircraft whose lift is generated by four DC motors and it is able to take off and land vertically. It also has the advantage that it can be contr...

This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This 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. By deriving the inverse kinematics, one can design the controller such that the desired...

Unmanned Aerial Vehicles (UAVs) have attracted significant attentions in recent years due to their potentials in various military and civilian applications. Small UAVs are often equipped with low-cost and lightweight micro-electro-mechanical systems (MEMS) inertial measurement units including 3-axis gyro, accelerometer and magnetometer. The measurements provided by gyros and accelerometers ofte...