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Developing a flight control strategy for a four-rotor under-actuated UAV

This paper provides a theoretical approach in the stabilization of a four rotor UAV using a dynamics model. We performed various simulations in open and closed loop platforms and implemented several experiments on the miniature VTOL system. The vehicle feedback system uses an Inertial Measurement Unit (IMU).A state space variable model of the vehicle dynamics is presented here in the literature. In order to explain this system, we have developed a simulink based model for the PID controller. Also various control techniques like Neural Networks which will enhance the system performance are proposed.