Modeling and Control of a Class of Multi-Propeller Aerial Vehicles

This work focuses on the modeling and the control design for a class of multi-propeller aerial vehicles. The idea is to consider the aircraft as a modular system obtained by interconnecting a number of actuator modules, each one given by a fixed-pitch propeller driven by a motor, and of payload modules, representing the equipment and all the other passive components installed onboard. A control strategy based on control allocation is then proposed so as to govern a generic multi-propeller aerial vehicle by means of a unique globally stabilizing controller. The effectiveness of the proposed results are then demonstrated by considering the problem of controlling the dynamical model of quad-rotor aerial vehicle.