Abstract: This paper presents the development and implementation of a single tilting rotor multirotor helicopter. A single tilting rotor multirotor helicopter is proposed that allows for decoupled lateral acceleration and attitude states. A dynamics model of the proposed multirotor helicopter is established to enable control system development. A control system architecture and daisy chaining-b...

This paper constructs a relationship between attitude and translational movement of a quadrotor, and presents a PD logic tracking control design algorithm capable of not only stabilizing attitude but also tracking a desired trajectory accurately. In contrast to conventional flight control systems, the artificial inner/outer-loop structure is eliminated via using a third-order time optimal track...

Aiming at developing high power efficiency system for quadrotor vehicle during height keeping and long distance flight, a quadrotor vehicle with adaptive wing is proposed. Angle of the wing respect to flying direction can be adjusted adaptively according to flying speed, to reduce energy expenditure of motor. The dynamic model was built up. Rotor lift were analyzed based on the mechanical struc...

The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the...

Quadrotor UAVs have successfully been used both in research and for commercial applications in recent years and there has been significant progress in the design of robust control software and hardware. Nevertheless, testing of prototype UAV systems still means risk of damage due to failures. Motivated by this, a system for the comprehensive simulation of quadrotor UAVs is presented in this pap...

A possible design method for learning motion control consists of using a model-based optimal control algorithm to initialize the policy of a sampling based reinforcement learning algorithm. In this paper, the initial control trajectory design is performed for a quadrotor with a cable-suspended load using the iterative LQG (iLQG) algorithm. The hybrid model of the quadrotor with the load is intr...

The work proposed in this paper aim to design tow controllers for attitude stabilization of a Quadrotor UAV. The first is a classical PID controller; the second is a nonlinear state feedback controller which designed using multiple model approach. We start with the design of a Takagi-Sugeno (T-S) model for Quadrotor modelling, and then we use Linear Matrix Inequality (LMI), and PDC (Parallel Di...

This paper presents the design and real-time experimental results of a fault diagnosis scheme for inertial measurement unit (IMU) measurements of quadrotor unmanned air vehicles (UAVs). The objective is to detect, isolate, and estimate sensor bias fault in accelerometer and gyroscope measurements. Based on the quadrotor dynamics and sensor models under consideration, the effects of sensor fault...

In this paper, a Levenberg-Marquardt inspired sliding mode control theory based adaptation laws are proposed to train an intelligent fuzzy neural network controller for a quadrotor aircraft. The proposed controller is used to control and stabilize a quadrotor unmanned aerial vehicle in the presence of periodic wind gust. A proportional-derivative controller is firstly introduced based on which ...

This paper presents the mathematical development of a body-centric nonlinear dynamic model of a quadrotor UAV that is suitable for the development of biologically inspired navigation strategies. Analytical approximations are used to find an initial guess of the parameters of the nonlinear model, then parameter estimation methods are used to refine the model parameters using the data obtained fr...