Analysis of quadrotor dynamics and control is conducted. A linearized quadrotor system is controlled using modern techniques. A MATLAB quadrotor control toolbox is presented for rapid visualization of system response. Waypoint-based trajectory control of a quadrotor is performed and appended to the MATLAB toolbox. Finally, an investigation of control using reinforcement learning is conducted.

This paper suggests a decentralized adaptive sliding mode formation procedure for affine nonlinear multi-quadrotor under a fixed directed topology wherever the followers are conquered by dynamical uncertainties. Compared with the previous studies which primarily concentrated on linear single-input single-output (SISO) agents or nonlinear agents with constant control gain, the proposed method is...

This paper provides new results for the tracking control of a quadrotor unmanned aerial vehicle (UAV). The dynamics of the quadrotor UAV are expressed globally on the configuration manifold of the special Euclidean group, and we construct geometric controllers to track outputs that correspond to each of three flight modes, namely (1) almost global asymptotic tracking of the attitude of the quad...

Different from the previous work for quadrotor which mostly discusses application of different controllers to quadrotor control under normal flight conditions, this paper introduces a new design strategy which considers fault tolerant capability of the quadrotor control problems. By utilizing Passive Fault Tolerant Control Systems (PFTCS) concept with backstepping control approach, the trajecto...

A quadrotor is nonlinear, coupled and unstable system. Two control schemes, namely backstepping and sliding mode, have been applied to obtain desired trajectory tracking by quadrotor. This paper presents the comparative performance results of quadrotor under two control schemes.

In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrot...

Flying a quadrotor helicopter requires at least a means for stabilization control. Although efficiently stabilizing a quadrotor is itself an extensive research field, adding autonomous control poses even more challenging problems: the underlying quadrotor platform must provide sufficiently precise sensors with high update rates, the mechanical parts should not incur large update delays, and the...

This paper presents preliminary results on modeling and control of a quadrotor UAV. With aerodynamic concepts, a mathematical model is firstly proposed to describe the dynamics of the quadrotor UAV. Parameters of this model are identified by experiments with Matlab Identify Toolbox. A group of PID controllers are then designed based on the developed model. To verify the developed model and cont...

Abstract— This paper describes the architecture of a quadrotor and its linearized dynamic model. The attitude of the quadrotor in the model state-space variables can be calculated with rotational matrix formed from quaternions instead of finite small angular displacement approximation. Based on H ∞ continuous time control method, a state feedback controller is designed to control the translatio...

In this paper, the uncertainty and disturbance estimator (UDE)-based position controllers are developed to achieve the robust position control of a quadrotor using only onboard sensing. Firstly, in order to accurately estimate the positions of the quadrotor in GPS-denied environments, an open source high speed optical flow sensor PX4FLOW is adopted. Secondly, the UDE-based controllers are devel...