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...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

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, 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 ...

in this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. the designed controller includes two parts: a position controller and an attitude controller. the attitude controller is designed by using the sliding mode control (smc) method to track the desired pitch and roll angles, which are the output of position controll...

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...

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...

Based on two successfully and widely used control techniques in many industrial applications under normal (fault-free) operation conditions, the Gain-Scheduled Proportional-Integral-Derivative (GS-PID) control and Model Reference Adaptive Control (MRAC) strategies have been extended, implemented, and experimentally tested on a quadrotor helicopter Unmanned Aerial Vehicle (UAV) testbed available...

This paper presents the design of an optimal nonlinear controller for trajectory tracking of a quadrotor helicopter based on the well-known sliding mode control method (SMC). To this end, the Lyapunov law analysis has been used regarding nonlinear equations of the quadrotor. The proposed control method is characterized by its robustness against disturbances and aerodynamic effects. One of the m...

International Journal of Robotics, Vol. 4, No. 1, 38-46 (2015) / Gh. Alizadeh, K. Ghasemi 39 The remainder of this paper is then organized as follows. fIGThe control strategy is exposed in Section III; in this section, two approaches of nonlinear robust control design are proposed: the SMDO control for translational movements and the nonlinear H∞ control for the rotational subsystem. Section IV...