Multi-rotor drone tutorial: systems, mechanics, control and state estimation

@article{Yang2017MultirotorDT,
  title={Multi-rotor drone tutorial: systems, mechanics, control and state estimation},
  author={Hyunsoo Yang and Yongseok Lee and Sang-Yun Jeon and Dongjun Lee},
  journal={Intelligent Service Robotics},
  year={2017},
  volume={10},
  pages={79-93}
}
We present a tutorial introduction to the multirotor unmanned aerial vehicles, often simply referred as drones. We first explain typical configuration, components and construction of the drones. We then provide basic kinematic and dynamic modeling of drones and their principle of flight. Some representative motion control techniques are then presented, which take into account the issue of underactuation of the drones. State estimation problem of the drones, that is crucial for their proper… CONTINUE READING

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