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...

We present a framework to enable a fleet of rigidly attached quadrotor aerial robots to transport heavy objects along a known reference trajectory without interrobot communication or centralized coordination. Leveraging a distributed wrench controller, we provide exponential stability guarantees for the entire assembly, under a mild geometric condition. This is achieved by each quadrotor indepe...

In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x,y,z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order n...

This paper presents a spikes removing methodology for ultrasonic rangefinders with an application to a quadrotor unmanned aerial vehicle. Ultrasonic sensors suffer from spikes in distance measurements due to specular reflectance and acoustic noise. Removing these spikes is necessary for improving the hovering performance of the quadrotor. The spikes removing algorithm is based on the discrete w...

A nonlinear adaptive controller for the quadrotor helicopter is proposed using backstepping technique mixed with neural networks. The backstepping strategy is used to achieve good tracking of desired translation positions and yaw angle while maintaining the stability of pitch and roll angles simultaneously. The knowledge of all physical parameters and the exact model of the quadrotor are not re...

In this paper a control scheme is described for regulation and trajectory tracking tasks planned for the motion of a helicopter with four rotors wich is also known as Quadrotor. The control scheme consists of four classical controllers and a generation stage of trajectories for the desired translational movement in the X − Y plane. Simulations results show the acceptable performance of the cont...

This work sought to design control laws for a quadrotor helicopter to track a desired path. The control laws were developed on a model of the quadrotor dynamics, which was obtained by linearizing its nonlinear equations of motion. After, the effectiveness of the control laws were studied by including modeling uncertainties and disturbances such as wind. The results enabled us to understand whet...

Formally posed in 1965, the problem of optimal attitude estimation from vector measurements has been a hot topic of research in the aerospace community. This paper provides a survey of open source quadrotor helicopter autopilots that demonstrates that the Unmanned Aerial Vehicle community has largely ignored the optimal attitude estimation work to date. Furthermore, the effectiveness of a quadr...

In this paper, the quadrotor controller-motorpropeller subsystem and microelectromechanical subsystem (MEMS) are identified and computer model design for the quadrotor control system is developed. Identification stand modifications mentioned in the paper. Control law was based on digital PID controller. The presented solution can be applied in both an indoor and outdoor environment. Computer mo...