Title :
Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor
Author :
Mahony, Robert ; Kumar, Vijay ; Corke, Peter
Author_Institution :
Res. Sch. of Eng., Australian Nat. Univ., Canberra, ACT, Australia
Abstract :
This article provides a tutorial introduction to modeling, estimation, and control for multirotor aerial vehicles that includes the common four-rotor or quadrotor case.
Keywords :
aircraft control; multi-robot systems; multirotor aerial vehicles; quadrotor control; Aerodynamics; Aircraft manufacture; Atmospheric modeling; Blades; Estimation; Modeling; Rotors; Tutorials;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2012.2206474
