Dynamic Deployment Control for Instant Launch with a Non-Zero Initial Quadrotor

An UAV dynamic deployment technology is developed for the quadrotor to realize instant launch by manually throwing it in the air, and the control method of fly-by stabilization under non-zero initial status is studied in this paper. This starting procedure allows users to throw the quadrotor with any initial attitude, and the controller immediately starts to guide it to horizontal position when the quadrotor is recognized automatically to be released from the hand of the operator. To overcome the gravity for rising after instant launching, we implemented a PID controller with feed forward compensation terms on the expected rising velocity, where the cascade control then is utilized to ensure stabilization after actual vertical velocity decaying. The experimental results show that the proposed control algorithm can achieve the effect of stabilization control from the non-zero initial status, which gets rid of the limitation that the most of the quadrotors need to be stationary from the horizontal ground take-off, and can be more suitable to be used for the future mission scenarios.