This paper focuses on the analysis and control of some mathematical models representing the dynamics of a quadrotor. By using a normal form approach, the highly coupled parts in the quadrotor system are eliminated, while all possible properties of the original system are not changed. The bifurcations of the system are then analyzed. A two dimensional system is deduced at the origin which can de...

Aiming at the problems of difficult attitude stabilization, low landing accuracy, large external disturbance and slow dynamic response during quadrotor on wave glider, an improved series active rejection control method for is proposed. The controller with inner-loop angular velocity outer-loop position based (ADRC) designed by analyzing model quadrotor. A tracking differentiator (TD) adopted to...

For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed progress along the path and by looking ahead to account for changes in the path. We propose a novel predictive pathfollowing approach that couples feedforward li...

-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...

Quad-rotor helicopter is an Unmanned Aerial Vehicle (UAV), whose lift is generated by four rotors located on the corner of X-shape. Due to simplicity of its dynamics and its ability to hover, quadrotor helicopter becomes as a popular platform for UAV. Current designs mostly consider a linear model for controller design. In this paper, we derivate nonlinear dynamic equations of the quadrotor UAV...

As research into UAVs accelerates into the 21st century, alternatives to fixed wing vehicles such as the quadrotor are causing interest. The quadrotor is a small agile vehicle which could be suitable for search and rescue, surveillance and remote inspection. For autonomous operation a control system that incorporates both trajectory planning and trajectory following is required. Trajectory plan...

The possibilities and ease of control make a quadrotor aircraft an attractive platform for studying swarm behavior, modeling, and control. The energetics of sustained flight for small aircraft, however, limit typical applications to only a few minutes. Adding payloads – and the mechanisms used to manipulate them – reduces this flight time even further. In this paper we present the flying monkey...

This paper addresses the trajectory tracking problem for a quadrotor affected by external perturbations and inaccurate measures. A control strategy is proposed using time scale separation of the translational and rotational dynamics. A second order sliding mode controller is developed for the translational dynamic in order to deal with external perturbations while avoiding the undesired chatter...

Image moments provide an important class of image features used for image-based visual servo control. Perspective zeroth and first order image moments provide a quasi linear and decoupled link between the image features and the translational degrees of freedom. Spherical first-order image moments have the additional desirable passivity property. They allow to decouple the position control schem...

This paper demonstrates an approach to the vision-based control of the unmanned quadrotors for hover and object tracking. The algorithms used the Speed Up Robust Features (SURF) algorithm to detect objects. The pose of the object in the image was then calculated in order to pass the pose information to the flight controller. Finally, the flight controller steered the quadrotor to approach the o...