Title :
Simple Real-time Attitude Stabilization of a Quad-rotor Aircraft With Bounded Signals
Author :
Castillo, P. ; Albertos, P. ; Garcia, P. ; Lozano, R.
Author_Institution :
Univ. de Technologie de Compiegne
Abstract :
In this paper, a simple control algorithm to stabilize the attitude of a quad-rotor aircraft is presented. The controller is obtained using the backstepping technique and adding saturation functions. The analysis of convergence is carried out by using the Lyapunov analysis. The performance of the controller with respect to a classical PD controller is compared by simulation. The robustness of the control algorithm with respect to aggressive perturbations is illustrated with real-time experiments
Keywords :
Lyapunov methods; aircraft control; attitude control; helicopters; Lyapunov analysis; PD controller; backstepping technique; quadrotor aircraft; real-time attitude stabilization; Aerospace control; Aircraft; Attitude control; Automatic control; Backstepping; Control systems; PD control; Remotely operated vehicles; USA Councils; Unmanned aerial vehicles;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377137
