Modeling, attitude estimation, and control of Hexarotor micro aerial vehicle (MAV)

This paper describes modeling, attitude estimation, attitude control, and altitude control for Hexarotor micro aerial vehicle (MAV). Hexarotor has high potential to carry more payload and high maneuverability compared to quadrotor. This paper proposes a new approach for attitude estimation in realtime system by using a nonlinear complementary observer based on special orthogonal group of rotation matrices SO(3), rather than conventional extended Kalman filter (EKF), to exploit the near-global convergence property of the observer and reduced computational complexity. The proposed attitude controller is based on an inner-outer loop structure PI+PID (proportional-integral plus proportional-integral-derivative) control method to reduce the overshoot effects, leads to faster response, improve robustness and transient response, whilst the proposed altitude controller is based on classical closed loop PID control system. Simulation results will be presented showing the proposed controller achieves excellent dynamical performance and finally, the experimental results, both in indoor and outdoor flying environment demonstrate the effectiveness of the proposed attitude observer and controller in real flight condition.