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Article Dans Une Revue IEEE Control Systems Magazine Année : 2005

Stabilization of a mini rotorcraft having four rotors

Résumé

In this paper we present a controller design and implementation on a mini-rotorcraft having four rotors. A Lagrangian model of the helicopter was used for the controller synthesis. The proposed controller is based on Lyapunov analysis. Experimental results show that the controller is able to perform autonomously the tasks of taking-off, hovering and landing.
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Dates et versions

hal-00449969 , version 1 (24-01-2010)

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Pedro Castillo Garcia, R. Lozano, A. Dzul. Stabilization of a mini rotorcraft having four rotors. IEEE Control Systems Magazine, 2005, 25 (6), pp.45-55. ⟨10.1109/IROS.2004.1389815⟩. ⟨hal-00449969⟩
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