Realization of the flight control for an indoor UAV quadrotor

Abstract

The UAV quadrotor is considerably difficult to be controlled due to its inherently unstable and complex multi-variable properties. To realize the control, a nonlinear dynamic model is firstly derived and formulated. A control approach employing hierarchical multiple-layer structure is then developed. The detailed hardware components, software as well as the working principle of the system are described. The entire UAV control system is tested and verified in actual flight tests.