BANGURA , Moses

Flight performance of aerial robotic vehicles is critically dependent on the quality of the state estimates provided by onboard sensor systems. The attitude estimation problem has been extensively studied over the last ten years and the development of low complexity, high performance, robust non-linear observers for attitude has been one of the...

— A key requirement for effective control of quadro-tor vehicles is estimation of both attitude and linear velocity. Recent work has demonstrated that it is possible to measure horizontal velocities of a quadrotor vehicle from strap-down ac-celerometers along with a system model. In this paper we extend this to full body-fixed-frame velocity...

In this paper, we present a coupled inertial and body-fixed frame non-linear complementary velocity aided attitude filter and a linear velocity controller for quadrotors. The coupled observers provide estimates of attitude and the different velocities associated with quadrotor motion. With the estimated body-fixed frame velocity, we propose a...

We consider the problem where a supervisor or remote pilot provides a real-time linear velocity reference to a multirotor aerial robot; either through a traditional remote control handset, a modern haptic interface, or semi-autonomous guidance control system. In all such cases, the goal is to servo-control the vehicle's velocity to the set...