Abstract This paper presents a nonlinear compensation technique to solve the trajectory tracking problem for a quadrotor. The kinematics and dynamic equations are obtained using Lagrange –Euler principle. The proposed control algorithm is robust to pay load variations even at high speed or low speeds. The controller can compensate the complex dynamics and also other external disturbances. The t...

Efficient, small-scale fixed-pitch rotor blades are essential for miniature rotorcraft. Extremely thin blade sections are required for highly efficient rotor performance that leads to acceptable mission endurance. Such rotor blades are difficult to manufacture from sufficiently rigid material to avoid significant torsional deformation in operating conditions. In practice, it is necessary to tra...

This paper is an academic experience report describing analysis of optimal control techniques for simulated quad-rotor unmanned aerial vehicles (UAVs) performing search and rescue missions. Analysis of the controller and guidance laws governing the UAV are described in detail culminating in a closed form expression describing the probability of detection over a certain field.

In the recent years autonomous flying vehicles are being increasingly used in both civil and military areas. With the advancement of the technology it has become possible to test efficiently and cost-effectively different autonomous flight control concepts and design variations using small-scale aerial vehicles. In this paper the stabilization problem of the quad-rotor rotorcraft using bounded ...

Multi rotor UAVs offer great potential wide range of challenging applications due to the high manoeuvrability and to the potential to hover, take off and fly in small areas. Nevertheless, their design is in some way critical. The main concern is their inadequate level of handling qualities due to the intrinsic instabilities of this type of small size vehicles. A specific hardware with a control...