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.
Abslmcl-In this paper we present a controller design and implementation on a mini-rotorcraft having four rotan. A Lagrangien model of the helicopter was used for the controller synthesis. The propmed contmller is based on Lyapunov ana1)sis. Experimental results show that the controller is able to perform autonomously the tasks of taking-off, hovering and… (More)
— In this paper, we present a comparison of three control techniques: Nested Saturations, Backstepping and Sliding Modes. The control objective consists of obtaining the best control strategy to stabilize the position of a quad-rotor when using visual feedback. We propose a method to measure translational speed as well as the UAV 3D position in a local… (More)