Modeling and Control of Aerial Robots

  • Robert MahonyEmail author
  • Randal W. Beard
  • Vijay Kumar
Part of the Springer Handbooks book series (SHB)


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.




angle of attack


electronic speed controller


global positioning system


inertial measurement unit


microelectromechanical system




model predictive control




pulse-width modulation


single input single-output


simultaneous localization and mapping


total energy control system


unmanned aerial system


unmanned aerial vehicle


uniformly completely observable


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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.Research School of EngineeringAustralian National University (ANU)CanberraAustralia
  2. 2.Electrical and Computer EngineeringBrigham Young UniversityProvoUSA
  3. 3.Department of Mechanical Engineering and Applied MechanicsUniversity of PennsylvaniaPhiladelphiaUSA

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