Embedded control of a four-rotor UAV

This paper presents the design of an embedded-control architecture for a four-rotor unmanned air vehicle (UAV) to perform autonomous hover flight. A non-linear control law based on nested saturations technique is presented that stabilizes the state of the aircraft around the origin. The control law was implemented in a microcontroller to stabilize the aircraft in real time. In order to obtain experimental results we have built a low-cost on-board system which drives the aircraft in position and orientation. The nonlinear controller has been successfully tested experimentally