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Robotics and the Handbook Read chapter Read first chapter

2016 | OriginalPaper | Chapter

52. Modeling and Control of Aerial Robots

Authors : Robert Mahony, Randal W. Beard, Vijay Kumar

Published in: Springer Handbook of Robotics

Publisher: Springer International Publishing

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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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Appendix
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Metadata
Title
Modeling and Control of Aerial Robots
Authors
Robert Mahony
Randal W. Beard
Vijay Kumar
Copyright Year
2016
Publisher
Springer International Publishing
Book
Springer Handbook of Robotics

Print ISBN: 978-3-319-32550-7

Electronic ISBN: 978-3-319-32552-1

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-32552-1_52