Quadrotor drones equipped with high quality cameras have rapidely raised as novel, cheap and stable devices for filmmakers. While professional drone pilots can create aesthetically pleasing videos in short time, the smooth – and cinematographic – control of a camera drone remains challenging for most users, despite recent tools that either automate part of the process or enable the manual desig...

In this paper, an efficient Model Predictive Control (eMPC) algorithm deploying fewer prediction points and less computational requirement is presented in order to control a small or miniature unmanned quadrotor helicopter. A model reduction technique associated with the dynamics of an unmanned quadrotor helicopter is also put forward so as to minimize the burden of calculations in application ...

Small rotary-wing UAVs are susceptible to gusts and other environmental disturbances that affect inflow at their rotors. Inflow variations cause unexpected aerodynamic forces through changes in thrust conditions and unmodeled blade-flapping dynamics. This paper introduces an onboard, pressure-based flow measurement system developed for a small quadrotor helicopter. The probe-based instrumentati...

The purpose of this paper is to show that a combination of a nonlinear controller for an UAV of quadrotor type and visual servoing for trajectories generation leads to better stability results in a perturbed environment. The quadrotor is an underactuated system and highly nonlinear, which induces some difficulties in the design of the controller and in particular the application of visual servo...

In this paper an adaptive control scheme along with its simulation, and its implementation on a quadrotor are presented. Parametric and nonparametric uncertainties in the quadrotor model make it difficult to design a controller that works properly in various conditions during flight time. Decentralized adaptive controller, which is synthesized based on improved Lyapunov-based Model Reference Ad...

In this paper, the design and the position inverse kinematics analysis of a novel aerial manipulation system are presented. The proposed system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system. New inverse kinematic analysis are derived such that quadrotor/joint space ...

In this paper, a new Computer Aided Design (CAD) methodology for the Processor-In-the-Loop (PIL) cosimulation and Rapid Control Prototyping (RCP) of a Quadrotor Vertical Take-Off and Landing (VTOL) type of Unmanned Arial Vehicle (UAV) is proposed and successfully implemented around an embedded NI myRIO-1900 target and a host PC. The developed software (SW) and hardware (HW) prototyping platform...

In this paper we aim to discuss adaptive flocking control of multiple Unmanned Ground Vehicles (UGVs) by using an Unmanned Aerial Vehicle (UAV). We utilize a Quadrotor to provide the positions of all agents and also to manage the shrinking or expanding of the agents with respect to the environmental changes. The proposed method adaptively causes changing in the sensing range of the ground robot...

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...