Front Cover	1
	Indoor Navigation Strategies for Aerial Autonomous Systems	4
	Copyright	5
	Contents	6
	About the Authors	10
	Preface	12
	Acknowledgments	14
	Part 1 Background	16
	1 State-of-the-Art	18
	1.1 Mathematical Representation of the Vehicle Dynamics	19
	1.2 Attitude Estimation Using Inertial Sensors	21
	1.3 Delay Systems & Predictors	22
	1.4 Data Fusion for UAV Localization	23
	1.5 Control & Navigation Algorithms	26
	1.6 Trajectory Generation & Tracking	30
	1.7 Obstacle Avoidance	31
	1.8 Teleoperation	35
	References	37
	2 Modeling Approaches	46
	2.1 Force and Moment in a Rotor	46
	2.2 Euler-Lagrange Approach	47
	2.3 Newton-Euler Approach	52
	2.4 Quaternion Approach	55
	2.5 Discussion	64
	References	65
	Part 2 Improving Sensor Signals for Control Purposes	66
	3 Inertial Sensors Data Fusion for Orientation Estimation	68
	3.1 Attitude Representation	68
	3.2 Sensor Characterization	70
	3.3 Attitude Estimation Algorithms	71
	3.4 A Computationally-Efficient Kalman Filter	79
	3.5 Discussion	88
	References	89
	4 Delay Signals & Predictors	90
	4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays	91
	4.2 State Predictor-Control Scheme	102
	4.3 Discussion	120
	References	122
	5 Data Fusion for UAV Localization	124
	5.1 Sensor Data Fusion	124
	5.2 Prototype and Numerical Implementation	131
	5.3 Flight Tests and Experimental Results	133
	5.4 OptiTrack Measurements vs EKF Estimation	139
	5.5 Rotational Optical Flow Compensation	141
	5.6 Discussion	143
	References	143
	Part 3 Navigation Schemes & Control Strategies	146
	6 Nonlinear Control Algorithms with Integral Action	148
	6.1 From PD to PID Controllers	149
	6.2 Saturated Controllers with Integral Component	151
	6.3 Integral and Adaptive Backstepping Control - IAB	160
	6.4 Discussion	168
	References	169
	7 Sliding Mode Control	172
	7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression	172
	7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design	175
	7.3 Numerical Validation	181
	7.4 Real-Time Validation	189
	7.5 Discussion	193
	References	193
	8 Robust Simple Controllers	196
	8.1 Nonlinear Robust Algorithms Based on Saturation Functions	197
	8.2 Robust Control Based on an Uncertainty Estimator	211
	8.3 Discussion	226
	References	227
	9 Trajectory Generation, Planning & Tracking	228
	9.1 Quadrotor Mathematical Description	229
	9.2 Time-Optimal Trajectory Generation	232
	9.3 UAV Routing Problem for Inspection-Like Missions	235
	9.4 Trajectory Tracking Problem	238
	9.5 Simulation Results	239
	9.6 Discussion	255
	References	255
	10 Obstacle Avoidance	258
	10.1 Artificial Potential Field Method	258
	10.2 Obstacle Avoidance Algorithm	263
	10.3 Limit-Cycle Obstacle Avoidance	272
	10.4 Discussion	276
	References	276
	11 Haptic Teleoperation	278
	11.1 Experimental Setup	279
	11.2 Collision Avoidance	284
	11.3 Haptic Teleoperation	285
	11.4 Real-Time Experiments	286
	11.5 Discussion	289
	References	290
	Index	292
	Back Cover	302