This paper introduces a Feedback Linearization (FL) controller to eliminate the gyro effect on a quadrotor UAV. In order to control the attitude of the quadrotor, the second model equation was differentiated to the 4-th order to induce the control input to be revealed, and then a new control input was derived based on the attitude transformation equation with a gyro effect. For the initial quick posture control of the quadrotor, the existing yaw control was replaced with a separate controller. The simulation was conducted with an experiment in which FL control to remove the gyro effect was applied to the quadrotor and an experiment without removing the gyro effect, from the experimental results, the maximum error seen in each axial direction of the quadrotor was x = 0.22 m, y = 0.20 m, z = 0.16 m. Through the proposed method, the effect of the FL controller for controlling the gyro effect of the quadrotor was confirmed.

Quadrotor with limited flight time due to battery level can have the extended mission life by applying energy harvesting technology. Bio-inspiration from the birds' locomotion of flight and perch-and-stare can make energy consumption efficient, and energy harvesting technology can generate energy. In order to charge the battery with solar power, the drones are required to be in a position without shade. In the mountainous terrain, a novel mechanism is required in order to be located stably at the top of the tree or the inclined rock. In this study, we propose an analysis of the origami structure and the concept design of the perching mechanism with two stable equilibrium states. The origami structure composed of compliant material can be applied to the perching mechanism that can be locked passively. Moreover, the experimental results of the trajectory and perching test are discussed.