Hard Real-Time Implementation of a Nonlinear Controller for the Quadrotor Helicopter

Unmanned Aerial Vehicles parameter estimation using Artificial Neural Networks and Iterative Bi-Section Shooting method

“…Raffo et al [1] used predictive nonlinear control strategy to achieve robust Quadrotor trajectory tracking. Similar studies were investigated by Cabecinhas et al [2] and Guadarrama-Olvera et al [3]. Bou-Ammar presented a comparison study between two Quadrotor autopilots tasked to maintain a desired velocity vector.…”

Fractional Order Sliding Mode Control of a Class of Second Order Perturbed Nonlinear Systems: Application to the Trajectory Tracking of a Quadrotor

“…In order to design the control signals u 2 and u 3 , a desired reference signal is first defined for the angles φ and θ, this is φ d and θ d , respectively. For doing this, we adopt the small angle approximation widely used in the literature of unmanned aerial vehicles (see for example [28,30]). Under this assumption, the dynamics (24), (25), (27)-(29) take the form…”

Robust trajectory tracking control of a quadrotor helicopter

“…The controller performance was evaluated using a realtime test bed, where a customized DSP 2 based electronic card performs the controller computations onboard the quadrotor, see The real time execution of the controller is achieved using the Giotto model proposed in [15], which has been already implemented on a quadrotor in [16]. In this implementation there are three principal tasks: the attitude's controller, the position's controller and the disturbance's estimator.…”