Design and Testing of Indoor UAS Control Technique

The main purpose of this research is to design and test control laws for Unmanned Aerial Systems (UASs), in indoor application scenarios. A low cost motion capture system, based on IR light emitters, is combined with an on-board autopilot to track the attitude of a multi-rotor system. A variable structure control law is proposed as tracking system, including disturbances and parametric uncertainties. The combination of navigation and control algorithms is implemented on the on-board autopilot. Some guidelines of the implementation and deployment are provided.