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Mathematical Problems in Engineering
Volume 2013, Article ID 587098, 9 pages
Research Article

Attitude and Altitude Controller Design for Quad-Rotor Type MAVs

School of Information and Control, Nanjing University of Information Science & Technology, No. 219 Ningliu Road, Nanjing 210044, Jiangsu, China

Received 23 December 2012; Revised 24 March 2013; Accepted 25 March 2013

Academic Editor: Engang Tian

Copyright © 2013 Wei Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Micro air vehicles (MAVs) have a wide application such as the military reconnaissance, meteorological survey, environmental monitoring, and other aspects. In this paper, attitude and altitude control for Quad-Rotor type MAVs is discussed and analyzed. For the attitude control, a new method by using three gyroscopes and one triaxial accelerometer is proposed to estimate the attitude angle information. Then with the approximate linear model obtained by system identification, Model Reference Sliding Mode Control (MRSMC) technique is applied to enhance the robustness. In consideration of the relatively constant altitude model, a Linear Quadratic Gaussian (LQG) controller is adopted. The outdoor experimental results demonstrate the superior stability and robustness of the controllers.