Tracking-control investigation of two X4-flyers
Résumé
This paper presents the study of stabilization with motion planning of two models of four rotors mini-flying robot (helicopter with four rotors rotorcraft). The first is called model inertial without the axes orientation, the second is the model with the axes orientation. Our aim is to obtain algorithms of the control by using the backstepping controllers for the control of this under-actuated system. Our objective is to develop non-linear laws of control able to stabilize the engine in hovering and to generate its trajectory.