Titlebook: Introduction to Multicopter Design and Control; Quan Quan Textbook 2017 Springer Nature Singapore Pte Ltd. 2017 Quadrotor.Quadcopter.Multi

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Stability and ControllabilityStability and controllability are the basic properties of a dynamical system. Since a multicopter without control feedback is unstable, an autopilot is required to guarantee its stability and further make the multicopter hover automatically without any need for an external intervention.

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Low-Level Flight ControlControl is an enabling technology, the essence of which is the feedback. Unstable multicopters can become stable with the help of feedback control. However, it is not enough to be just stable.

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Position Control Based on Semi-Autonomous AutopilotsRemote pilots often control multicopters based on Semi-Autonomous Autopilots (SAAs) to accomplish some specified tasks, such as crop-dusting and inspection of power lines.

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Health Evaluation and Failsafe abort missions, crash multicopters, and, moreover, injure or even kill people. In order to guarantee safety,multicopter’s decision-making module should prevent or mitigate unsafe consequences of system’s failures. For such a purpose, some flight modes are defined and switched to according to the health evaluation results of each component.

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978-981-10-9859-8Springer Nature Singapore Pte Ltd. 2017

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