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Modeling and control of aerial robots
Mahony, R.; Beard, R.W.; Kumar, V. (2016). Modeling and control of aerial robots, in: Siciliano, B. et al. Springer handbook of robotics. pp. 1307-1334. https://dx.doi.org/10.1007/978-3-319-32552-1_52
In: Siciliano, B.; Khatib, O. (Ed.) (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. https://dx.doi.org/10.1007/978-3-319-32552-1
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  • Mahony, R.
  • Beard, R.W.
  • Kumar, V.
Abstract
    Aerial robotic vehicles are becoming a core field in mobile robotics. This chapter considers some of the fundamental modelling and control architectures in the most common aerial robotic platforms; small-scale rotor vehicles such as the quadrotor, hexacopter, or helicopter, and fixed wing vehicles. In order to control such vehicles one must begin with a good but sufficiently simple dynamic model. Based on such models, physically motivated control architectures can be developed. Such algorithms require realisable target trajectories along with real-time estimates of the system state obtained from on-board sensor suite. This chapter provides a first introduction across all these subjects for the quadrotor and fixed wing aerial robotic vehicles.
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