This article provides a tutorial introduction to modeling, estimation, and control for multirotor aerial vehicles that includes the common four-rotor or quadrotor case.

Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor

We describe a prototype 75 g micro quadrotor with onboard attitude estimation and control that operates autonomously with an external localization system The motivation for designing quadrotors at this scale comes from two observations First, the agility of the robot increases with a reduction in size, a fact that is supported by experimental results in this paper Second, smaller robots are able to operate in tight formations in constrained, indoor environments We describe the hardware and software used to operate the vehicle as well our dynamic model We also discuss the aerodynamics of vertical flight and the contribution of ground effect to the vehicle performance Finally, we discuss architecture and algorithms to coordinate a team of these quadrotors, and provide experimental results for a team of 20 micro quadrotors

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Towards a swarm of agile micro quadrotors

We survey the recent work on micro unmanned aerial vehicles (UAVs), a fast-growing field in robotics, outlining the opportunities for research and applications, along with the scientific and technological challenges. Micro-UAVs can operate in three-dimensional environments, explore and map multi-story buildings, manipulate and transport objects, and even perform such tasks as assembly. While fixed-base industrial robots were the main focus in the first two decades of robotics, and mobile robots enabled most of the significant advances during the next two decades, it is likely that UAVs, and particularly micro-UAVs, will provide a major impetus for the next phase of education, research, and development.

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Opportunities and challenges with autonomous micro aerial vehicles

Dipteran insect flight dynamics. Part 1 Longitudinal motion about hover.

As part of the NASA Aviation Safety Program at Langley Research Center, a dynamically scaled unmanned aerial vehicle (UAV) and associated ground based control system are being developed to investigate dynamics modeling and control of large transport vehicles in upset conditions. The UAV is a 5.5% (seven foot wingspan), twin turbine, generic transport aircraft with a sophisticated instrumentation and telemetry package. A ground based, real-time control system is located inside an operations vehicle for the research pilot and associated support personnel. The telemetry system supports over 70 channels of data plus video for the downlink and 30 channels for the control uplink. Data rates are in excess of 200 Hz. Dynamic scaling of the UAV, which includes dimensional, weight, inertial, actuation, and control system scaling, is required so that the sub-scale vehicle will realistically simulate the flight characteristics of the full-scale aircraft. This testbed will be utilized to validate modeling methods, flight dynamics characteristics, and control system designs for large transport aircraft, with the end goal being the development of technologies to reduce the fatal accident rate due to loss-of-control.

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AirSTAR: A UAV Platform for Flight Dynamics and Control System Testing

The similitude requirements for the most general test conditions are presented. These similitude requirements are considered in relation to the scaling relationships, test technique, test conditions (including supersonic flow), and test objectives. Particular emphasis is placed on satisfying the various similitude requirements for incompressible and compressible flow conditions. For free flying models tests, the test velocities for incompressible flow are scaled from Froude number similitude requirements and those for compressible flow are scaled from Mach number similitude requirements. The limitations of various test techniques are indicated, with emphasis on the free flying model.

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C. H. Wolowicz

Papers

Similitude requirements and scaling relationships as applied to model testing