Thanks to significant advances during the last decades in the miniaturized robotic area, many Unmanned Aerial Vehicle (UAV) projects were launched. Among them, the QuadriXflyer is an UAV quadrotor designed to evolve autonomously between waypoints given by an operator before flight. In this paper, we propose a modelling and a new hybrid control approach for the QuadriXflyer; a controller integra...

In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...

The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...

m-Triangular Systems are dynamical physical systems which can be described by m triangular subsystem models. Many physical system models such as those which describe fixed-wing and quadrotor aircraft can be realized as m-Triangular Systems. However, many control engineers try to fit their dynamical model into a 1-Triangular System model. This is commonly seen in the backstepping control communi...

In this study, mathematical modeling of biplane quadrotor with slung load is proposed. Performance the degrade while swinging so to compensate it nonlinear observer based backstepping controller designed that can not only handle disturbance generated by but also capable tackle partial rotor failure and wind gust. Simulation study carried out considering (only for mode), gust, (for all three mod...

In the previous decade, Unmanned Aerial Vehicles (UAVs) have turned into a subject of enthusiasm for some exploration associations. UAVs are discovering applications in different regions going from military applications to activity reconnaissance. This thesis is an overview of a particular sort of UAV called quadrotor or quadcopter. Scientists are often picking quadrotors for their exploration ...

In this article, we design a backstepping control law based on geometric principles to swing up spherical pendulum mounted moving quadrotor. The available degrees of freedom in the vector also permit us position plane quadrotor parallel ground. problem addressed here is, indeed, novel and has many practical applications which arise during transport payload top modeling are coordinate-free thus ...

The dynamics of a quadrotor are a simplified form of helicopter dynamics that exhibit the same basic problems of underactuation, strong coupling, multi-input/multi-output design, and unknown nonlinearities. Control design for the quadrotor is more tractable yet reveals corresponding approaches for helicopter and UAV control design. In this paper, a backstepping approach is used for quadrotor co...