Time-Near-Optimal Longitudinal Control for Quadrotor UAVs

In this work we propose a near-optimal Bang-Bang controller for the longitudinal motion of a quadrotor UAV which minimizes the active flight time. The proposed controller is closed loop, has simple cascaded structure and can be used in online navigation since it has minimum computational requirements compared to other approaches in the literature. It is evaluated via numerical simulation for a standard quadrotor nonlinear model.