Modeling and Control of Unmanned Aerial Vehicles: A Port-Hamiltonian Approach

Abstract

Recently, in robotics there is an increasing interest in the field of unmanned aerial vehicles (UAVs) due to the existence of diverse potential applications in the civilian sector. UAVs are characterized by their under-actuatedness and\ud highly nonlinear and inherently coupled dynamics, which makes the design of an autonomous controller challenging. To address this problem, developing a competent dynamic model of the UAV is an essential step. Such a dynamic..