Design, modeling and hovering control of a spherical MAV using a non-linear controller based on nested saturations

In this paper we present a spherical type MAV(micro aerial vehicle) which is characterized by a structure to allow VTOL(vertical take-off and landing) and a balancing motion like a roly-poly after unstable landing. After deriving a nonlinear model capable to describe the system dynamics which is modularized into primary five components that influence flight envelopes including slow flights and hovering, a simulator was formed using MATLAB. We designed a controller based on nested saturations for hovering and then present the simulation results.