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In this paper, we present a control design for the teleoperation of a miniature unmanned aerial vehicle known as an X4-flyer. A simple dynamic nonlinear model for the vehicle, valid for quasi-stationary flight conditions, is derived as a basis for the control design. An attitude control based on information issued from an inertial measurement unit is designed. In order to control the vehicle altitude, an adaptive controller avoiding the ground effects and based on measurements issued from an ultrasonic low cost sensor is designed. In order to compute the altitude velocity, an estimator based on the proposed modelling is used. At the end of the paper, experimental results are presented
Guénard et al. (Sun,) studied this question.