Global stabilization of a four rotor helicopter with bounded inputs

This paper proposes a global asymptotic stabilizing control law for a quad-rotor helicopter with bounded inputs. The proposed control design exploits the technique based on the sum of saturating functions and is based on the global stabilization of multiple integrators with bounded inputs. The positiveness of the thrust and the boundedness of the control inputs are taken into account. Numerical simulations show the effectiveness of the proposed controller.