Experiment of height and attitude control using monorotor unmanned aerial vehicle

This paper shows the usefulness of the nonlinear controller realizing periodic motion of monorotor UAV by experiments. Monorotor UAV has no equilibrium point. So, the control target is semi-hovering; a motion that passes desired non-equilibrium point at which height and attitude stop periodically. In order to achieve this control objective, we propose discontinuous and time-varying output zeroing controller which allows zero dynamics to be controlled. The numerical simulation and experiments show the validity of suggesting controller design method.