Flight control of a hexa-rotor airship: Uncertainty quantification for a range of temperature and pressure conditions.

The present paper is concerned with the dynamic modeling and design of control laws for a small non-rigid multi-rotor airship constituted of an oblate-spheroid helium balloon coupled with an electric-powered hexa-rotor airframe. The vehicle is assumed to operate in windless and low-speed conditions. A six-degree-of-freedom nonlinear dynamic model is derived for it using the Newton-Euler approach and considering, among other efforts, a restoring torque due to the displacement of the balloon's center of buoyancy above the vehicle's center of mass and the added-mass effect resulting from the air-structure interaction.

Experimental evaluation of HJB optimal controllers for the attitude dynamics of a multirotor aerial vehicle.

The present paper is concerned with the design and experimental evaluation of optimal control laws for the nonlinear attitude dynamics of a multirotor aerial vehicle. Three design methods based on Hamilton-Jacobi-Bellman equation are taken into account. The first one is a linear control with guarantee of stability for nonlinear systems.