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.
CITATION STYLE
Mahony, R., Beard, R. W., & Kumar, V. (2016). Modeling and Control of Aerial Robots. In Springer Handbooks (pp. 1307–1334). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-319-32552-1_52
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