Flip Control for an Indoor Micro Aerial Vehicle

Micro air vehicle can perform special task in narrow indoor environments with tiny size and flexible maneuverability. This paper focuses on the flip control method of a quad-rotor micro air vehicle. A simplest flip strategy with a constant torque is described and analyzed. An improved four-step flip strategy is proposed. The optimum ratio of thrust and gravity is calculated. A method for determining the flip radius is proposed. The architecture and dynamic model of the vehicle is provided and relevant parameters of a flip is calculated and presented. The attitude feedback strategy of performing a flip is contrasted with that of hovering.