Title :
Real-time stabilization and tracking of a four rotor mini-rotorcraft
Author :
Castillo, P. ; Dzul, A. ; Lozano, R.
Author_Institution :
Heudiasyc - UTC UMR 6599, Centre de Recherches de Royallieu; B.P. 20529, 60205 Compiègne Cedex, France
Abstract :
In this paper, we present a controller design and its implementation on a mini-rotorcraft having 4 rotors. The dynamic model is obtained via a Lagrange approach. Experiment results show good performance of the proposed non-linear controller based on nested saturation.
Keywords :
Aerospace control; Atmospheric modeling; Helicopters; Heuristic algorithms; Real-time systems; Rotors; Aircraft Control; Aircraft Dynamics; Lyapunov Methods; Recursive Control Algorithms;
Conference_Titel :
European Control Conference (ECC), 2003
Conference_Location :
Cambridge, UK
Print_ISBN :
978-3-9524173-7-9
