This paper presents the development and validation of a vision-based navigation and control system for a small unmanned quadrotor. The core of this system is a state estimator based on the so-called multi-camera parallel tracking and mapping algorithm, which provides accurate pose estimation for the quadrotor using multiple cameras. Built on cascaded proportional-integral-derivative control loo...

This paper considers the fuzzy modeling and robust fuzzy variable control for quadrotor in uncertain environment. The nonlinear system of quadrotor is firstly analyzed in this paper by utilizing laws of motion and force. Then, a Takagi-Sugeno (T-S) fuzzy model is achieved to approximate the system. LMI method is used to acquire an improved sliding surface. On this basis, a fuzzy variable struct...

Today, robots and unmanned aerial vehicles are being used extensively in modern societies. Due to a wide range of applications, it has attracted much attention among scientists over the past decades. This paper deals with the problem of the stability of a four-rotor flying robot called quadrotor, which is an under-actuated system, in the presence of operator or sensor failures. The dynamica...

We discuss the development of a mini‐ quadrotor system and coaxial quadrotor system for indoor and outdoor applications. The attitude control system consists of a stability augmentation system and a modern control approach. To perform an experimental flight test, a PID controller is used to validate our aerodynamic modelling and basic electronics hardware is dev...

We present the JAviator (Java Aviator), a high-performance quadrotor model helicopter that is built around a high-integrity frame, which is horizontally and vertically symmetric, and supports high payloads through light-weight materials and advanced brushless motors. The JAviator is 1.3m in diameter, weighs 2.2kg in total, and generates a maximum lift of 5.4kg, which translates into a theoretic...

Modeling and control of a Quadrotor with robotic arm which uses vision sensor is discussed. A quadrotor model coupled with a two link manipulator is first developed and then the integrated control mechanism is investigated. An Image Based Visual Servo system is introduced and then used with the aerial manipulator to successfully perform specific tasks of positioning and stabilization during man...

The compound helicopter design could potentially satisfy the new emerging requirements placed on the next generation of rotorcraft. The main benefit of the compound helicopter is its ability to reach speeds that significantly surpass the conventional helicopter. However, it is possible that the compound helicopter design can provide additional benefits in terms of maneuverability. The paper fea...

In this paper, we address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. We present a method that allows a quadrotor to autonomously and safely pass through a narrow, inclined gap using only its onboard visualinertial sensors and computer. Previous works have addressed quadrotor flight through gaps using external moti...

A quadrotor unmanned aerial vehicle (UAV) should have the ability to perform real-time target tracking and path planning simultaneously even when the target enters unstructured scenes, such as groves or forests. To accomplish this task, a novel system framework is designed and proposed to accomplish simultaneous moving target tracking and path planning by a quadrotor UAV with an onboard embedde...