Exploration is a challenging tasks in mobile robotics, which has been discussed to a great extend for ground robots. Its application on Micro Aerial Vehicles (MAVs), however, produces unique challenges. In this paper we present an approach for map-exploration designed for a quadrotor helicopter navigating through GPS-denied indoor envirionment using a single fisheye camera as primary sensor. Ba...

Based on the same principles as a single-rotor helicopter, a quadrotor is a flying vehicle that is propelled by four horizontal blades surrounding a central chassis. Because of this vehicle’s symmetry and propulsion mechanism, a quadrotor is capable of simultaneously moving and steering by simple modulation of motor speeds [1]. This stability and relative simplicity makes quadrotors ideal for r...

This paper presents a heterogeneous configuration of the multirotor unmanned aerial system (UAS) that features combined characteristics helicopter and quadrotor in single design, featuring endurance energy efficiency similar to helicopter, while keeping mechanical simplicity, control, manoeuvrability standard quadrotor. Power needed for rotorcraft hover has inverse relation with rotor disc. The...

In this paper, a novel nonlinear hierarchical controller for attitude control is proposed. This controller is obtained using Lyapunov methodology. Model uncertainties in the system are estimated on-line based on a time-delay control approach. The robustness of the flight controller is enhanced using an anti-windup integrator technique and semi-global asymptotical stability is proven. The contro...

Abstract: This paper presents a predictive and nonlinear robust control strategy to solve the path tracking problem for a quadrotor helicopter. The dynamic motion equations are obtained by the Lagrange-Euler formalism. The control structure is performed through a model-based predictive controller (MPC) to track the reference trajectory and a nonlinear H∞ controller to stabilize the rotational m...

Nowadays unmanned rotorcraft are designed to operate with greater agility, rapid maneuvering, and are capable of work in degraded environments such as wind gusts etc. The control of this rotorcraft is a subject of research especially in applications such as rescue, surveillance, inspection, mapping etc. For these applications, the ability of the rotorcraft to maneuver sharply and hover precisel...

This paper presents a method for fault detection and diagnosis of actuator loss of effectiveness for a quadrotor helicopter. This paper not only considers the detection of the actuator loss of effectiveness faults, but also addresses the diagnosis of the faults. The detection and estimation of the faults are performed by the Augmented Extended Kalman Filter. The faults are modelled as random wa...

This paper presents a nonlinear robust control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle. The helicopter motion equations is obtained by the LagrangeEuler formalism. The control structure is performed through a nonlinear H∞ controller to stabilize the rotational movements and a control law based on backstepping approach to track the reference trajectory...

This paper proposes a trajectory tracking control for non-holonomic systems using dynamic feedback linearization based on piecewise multi-linear (PML) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PML control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the ...