Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed

UAV archaeological reconstruction: The study case of Chamartin Hillfort (Avila, Spain)

“…To put it simply we could consider three different categories: multirotor (Rinaudo et al, 2012) (Brumana et al, 2013), mini-helicopter (Lambers et al, 2007) and fixed-wing (Chiabrando et al, 2011). The multirotor UAV platforms have the capability of vertical taking-off and landing in small areas as well as lower flight height than the fixed wing (Zhang et al, 2013). Taking into account these advantages, they are more suitable for surveying open archaeological areas, acquiring images from multiples points of view to achieve a complete 3d model.…”

Variable Structure-Model Reference Adaptive Control for Stabilization the Attitude of UAV

“…In [11] a nonlinear model of the quadrotor aircraft is controlled by using the adaptive controller which has an ability to give better performance to control the dynamics of the aircraft in the presence of saturation and uncertainties in the model of UAV. In [12][13][14] the MRAC control algorithm is used to control the model of the quadrotor, in which saturation in the actuator was considered to amplify the linear controller and the stability of the controller was guaranteed by Lyapunov stability criteria.…”

Recoverable set computation for post-fault/failure quadrotors based on sum of squares (SOS)

“…In order to make the most of remained performance guaranteeing post-fault quadrotor safety, fault-tolerant control (FTC) approaches are used. In [5], different FTC methods were investigated and applied on a quadrotor under small roll and pitch angles against actuator faults, including gain-scheduled PID (GS-PID), Model reference adaptive control (MRAC), sliding mode control (SM-C), control allocation and re-allocation methods. Compared with fault condition, actuator failure implies that one or more propellers are total lost and they are not able to actuate the quadrotor any more.…”