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Communication Dans Un Congrès Année : 2005

Control of an under-actuated system: Application to a four rotors rotorcraft

Résumé

This paper presents the study of stabilization with motion planning of a four rotors mini-flying machine (robot with four rotors rotorcraft). A particular design of this structure where two rotors are directional (X4 bidirectional rotors) is also presented. The dynamic of this last system involves five control inputs which are computed to stabilize the engine with predefined trajectories. Our aim is to obtain control algorithms using the backstepping approach in order to stabilize the engine in hovering and to generate its trajectory.
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Dates et versions

hal-00342270 , version 1 (27-11-2008)

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Kadda Zemalache, Lotfi Beji, Hichem Maaref. Control of an under-actuated system: Application to a four rotors rotorcraft. 5th International Conference on Robotics and Biomimetics (ROBIO 2005), 2005, Hong Kong, China. pp.404--409, ⟨10.1109/ROBIO.2005.246301⟩. ⟨hal-00342270⟩
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