Recent progress in the aerial robots’ technology facilitates these platforms to incorporate in complex missions such as delivering, search and rescue, and surveillance over urban environments. An accurate control and guidance system is necessary to broaden the mission domain, increase the reliability of robots, and enhance compliance with safety and communicative constraints. In this research, a hybrid flight controller besides a Guidance system is proposed for a quadrotor aerial robot which contains separate guidance and control modules. Realization and implementation capacity of the generated control law is particularly considered in the design of control system. Furthermore, in the design of the control system, dynamical limitations of quadrotor specially underactuated-ness are considered in order to enable the quadrotor to track a three-dimensional trajectory. Guidance subsystem is designed based on a behavioral algorithm, which produces a trajectory based on leader-follower concept for both linear and nonlinear dynamic inversion controllers. The simulation results exhibit the potency of the presented method for further researches on obstacle avoidance and formation flights.
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