Full Control of a Quadrotor

Abstract—The research on autonomous miniature flying robots has intensified considerably thanks to the recent growth of civil and military interest in Unmanned Aerial Vehicles (UAV). This paper summarizes the final results of the modeling and control parts of OS4 project, which focused on design and control of a quadrotor. It introduces a simulation model which takes into account the variation of the aerodynamical coefficients due to vehicle motion. The control parameters found with this model are successfully used on the helicopter without re-tuning. The last part of this paper describes the control approach (Integral Backstepping) and the scheme we propose for full control of quadrotors (attitude, altitude and position). Finally, the results of autonomous take-off, hover, landing and collision avoidance are presented. I