Stabilization and Trajectory Tracking in Discrete-Time of an Autonomous Four Rotor Mini-Rotorcraft (original) (raw)
In this paper, we present a stabilization and trajectory tracking controller in discrete –time for an autonomous four rotor mini-rotorcraft. The control algorithm proposed is based on the feedback linearization input-output for nonlinear discrete-time systems. The dynamic model of the autonomous four rotor rotorcraft is obtained via Lagrange formalism. Simulation results are presented to illustrate the performances of this controller. Introduction The miniature and autonomous flying robots arouse a growing interest in the civil and military domains; the fields of application of these vehicles are vast. We can state the ecological exploration mission and air cartography, search and rescue, surveillance and remote inspection. In this paper, we are particularly interested in controlling a mini rotorcraft having four rotors. Advantages of using a multi-rotor helicopter are the increased payload capacity and high manoeuvrability and the fact that the two motors turn in the clockwise dire...
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