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Article Dans Une Revue IEEE Transactions on Control Systems Technology Année : 2004

Real-time stabilization and tracking of a four rotor mini rotorcraft

Résumé

In this paper, we present a controller design and its implementation on a mini rotorcraft having four rotors. The dynamic model of the four-rotor rotorcraft is obtained via a Lagrange approach. The proposed controller is based on Lyapunov analysis using a nested saturation algorithm. The global stability analysis of the closed-loop system is presented. Real-time experiments show that the controller is able to perform autonomously the tasks of taking off, hovering, and landing.
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hal-00449973 , version 1 (24-01-2010)

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Pedro Castillo Garcia, A. Dzul, R. Lozano. Real-time stabilization and tracking of a four rotor mini rotorcraft. IEEE Transactions on Control Systems Technology, 2004, 12 (4), pp.510-516. ⟨10.1109/TCST.2004.825052⟩. ⟨hal-00449973⟩
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