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.
In this paper we present a controller design and implementation on a mini-rotorcraft having four rotors. A Lagrangian model of the helicopter was used for the controller synthesis. The proposed controller is based on Lyapunov analysis. Experimental results show that the controller is able to perform autonomously the tasks of taking-off, hovering and landing.
F light control of unmanned helicopters is an area that poses interesting problems for control researchers. The classical control strategy for helicopters assumes a linear model obtained for a particular operating point. Applying modern nonlinear control theory can improve the performance of the controller and enable the tracking of aggressive trajectories,… (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)
This article presents a comparison of controllers which have been applied to a fixed‐wing Unmanned Aerial Vehicle (UAV). The comparison is realized between classical linear controllers and nonlinear control laws. The concerned linear controllers are: Proportional‐ Derivative (PD) and Proportional‐Integral‐Derivative (PID), while the nonlinear controllers… (More)