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

Author

Castillo, Pedro ; Dzul, Alejandro ; Lozano, Rogelio

Author_Institution

Centre de Recherche de R.lieu, Univ. de Technol. de Compiegne, France

Volume

12

Issue

4

fYear

2004

fDate

7/1/2004 12:00:00 AM

Firstpage

510

Lastpage

516

Abstract

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.

Keywords

Lyapunov methods; aircraft control; closed loop systems; control system synthesis; helicopters; real-time systems; stability; Lagrange approach; Lyapunov analysis; aircraft control; aircraft dynamics; closed-loop system; four-rotor mini rotorcraft; helicopter control; real-time stabilization; recursive control; tracking; Aerodynamics; Aerospace control; Aircraft; Algorithm design and analysis; Automatic control; Control systems; Helicopters; Lagrangian functions; Rotors; Vehicle dynamics; Aircraft control; Lyapunov methods; aircraft dynamics; helicopter control; real-time systems; recursive control algorithms;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2004.825052

Filename

1308180