This book presents the basic tools required to obtain the dynamical models for aerial vehicles (in the Newtonian or Lagrangian approach). Several control laws are presented for mini-helicopters, quadrotors, mini-blimps, flapping-wing aerial vehicles, planes, etc. Finally, this book has two chapters devoted to embedded control systems and Kalman filters applied for aerial vehicles control and navigation. This book presents the state of the art in the area of UAVs. The aerodynamical models of different configurations are presented in detail as well as the control strategies which are validated in experimental platforms.Content: Chapter 1 Aerodynamic Configurations and Dynamic Models (pages 1–20): Pedro Castillo and Alejandro DzulChapter 2 Nested Saturation Control for Stabilizing the PVTOL Aircraft (pages 21–40): Isabelle Fantoni and Amparo PalominoChapter 3 Two?Rotor VTOL Mini UAV: Design, Modeling and Control (pages 41–57): Juan Escareno, Sergio Salazar and Eduardo RondonChapter 4 Autonomous Hovering of a Two?Rotor UAV (pages 59–78): Anand Sanchez, Juan Escareno and Octavio GarciaChapter 5 Modeling and Control of a Convertible Plane UAV (pages 79–113): Octavio Garcia, Juan Escareno and Victor RosasChapter 6 Control of Different UAVs with Tilting Rotors (pages 115–132): Juan Escareno, Anand Sanchez and Octavio GarciaChapter 7 Improving Attitude Stabilization of a Quad?Rotor Using Motor Current Feedback (pages 133–151): Anand Sanchez, Luis Garcia?Carrillo, Eduardo Rondon and Octavio GarciaChapter 8 Robust Control Design Techniques Applied to Mini?Rotorcraft UAV: Simulation and Experimental Results (pages 153–165): Jose Alfredo Guerrero, Gerardo Romero, Rogelio Lozano and Efrain AlcortaChapter 9 Hover Stabilization of a Quad?Rotor Using a Single Camera (pages 167–189): Hugo Romero and Sergio SalazarChapter 10 Vision?Based Position Control of a Two?Rotor VTOL Mini UAV (pages 191–208): Eduardo Rondon, Sergio Salazar, Juan Escareno and Rogelio LozanoChapter 11 Optic Flow?Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles (pages 209–236): Farid Kendoul, Isabelle Fantoni and Kenzo NonamiChapter 12 Real?Time Stabilization of an Eight?Rotor UAV Using Stereo Vision and Optical Flow (pages 237–263): Hugo Romero, Sergio Salazar and Jose GomezChapter 13 Three?Dimensional Localization (pages 265–300): Juan Gerardo Castrejon?Lozano and Alejandro DzulChapter 14 Updated Flight Plan for an Autonomous Aircraft in a Windy Environment (pages 301–325): Yasmina Bestaoui and Fouzia Lakhlef The development of unmanned aerial vehicles has been a critical field of interest for many scientists, engineers and researchers in recent years. Their main objective in this context is to design aerial devices that are able to complete surveillance missions in the most autonomous way possible. This requires them to have the ability to complete stable and solid disturbance-free hovering or horizontal flights
