in this research, the steady-state flow filed around a 3d body and rotor configuration of the robin helicopter is simulated. the rotor is modeled by an actuator disk. for this purpose, an annular computational domain replaces the rotor and some modeled source terms are added to the momentum equations. this modeling of rotor considerably speed up computational time. the flow field over this heli...

The main purpose of this paper is to integrate fuzzy logic control and sliding mode control techniques based on backstepping approach to develop a robust fuzzy backstepping sliding mode controller (RFBSMC) for an under-actuated quadrotor UAV system under external disturbances and parameter uncertainties. First, a robust backstepping sliding mode control for quadrotor is introduced briefly. More...

This paper presents the design of μAV, a palm size open source micro quadrotor constructed on a single Printed Circuit Board. The aim of the micro quadrotor is to provide a lightweight (approximately 86g) and cheap robotic research platform that can be used for a range of robotic applications. One possible application could be a cheap test bed for robotic swarm research. The goal of this paper ...

In this paper we deals with the limitation of flight endurance for quadrotor unmanned aerial vehicles. Quadrotor UAVs are multi-rotors flying machines; thus, a large proportion of their energy is consumed by rotors in order to maintain the vehicle in the air. In this concept, we introduced an energetic model composed of quadrotor movement dynamic, motors dynamic and battery dynamic; then, the p...

The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. This paper presents the design, analysis and experimental testing of a variable-pitch quadrotor. A custom in-lab built quadrotor with on-board attitude stabilization is developed and tested. An analysis of the dynamic differences in thrust output between a fixed-pitch and varia...

Visual Servoing for a Quadrotor UAV in Target Tracking Applications Marinela Georgieva Popova Master of Applied Science Graduate Department of Aerospace Engineering University of Toronto 2015 This research study investigates the design and implementation of position-based and image-based visual servoing techniques for controlling the motion of quadrotor unmanned aerial vehicles (UAVs). The prim...

Fixed-pitch quadrotors are popular research and hobby platforms largely due to their mechanical simplicity relative to other hovering aircraft. This simplicity, however, places fundamental limits on the achievable actuator bandwidth and the possible flight maneuvers. This paper shows that many of these limitations can be overcome by utilizing variable-pitch propellers on a quadrotor. A detailed...

During recent years there has been growing interest in unmanned aerial vehicles (UAVs). Moreover, the necessity to control and navigate these vehicles has attracted much attention from researchers in this field. This is mostly due to the fact that the interactions between turbulent airflows apply complex aerodynamic forces to the system. Since the dynamics of a quadrotor are non-linear and the ...

In this thesis, intelligent controllers are designed to control attitude for quadrotor UAV (Unmanned Aerial Vehicle).Quadrotors have a variety of applications in real time e.g. surveillance, inspection, search, rescue and reducing the human force in undesirable conditions. Quadrotors are generally unstable systems; the kinematics of quadrotor resembles the kinematics of inverted pendulum. In or...