Title :
Stabilization of a mini-rotorcraft having four rotors
Author :
Castillo, P. ; Lozano, R. ; Dzul, A.
Author_Institution :
Heudiasyc, UTC UMR CNRS, Compiegne, France
fDate :
28 Sept.-2 Oct. 2004
Abstract :
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.
Keywords :
Lyapunov methods; control system synthesis; helicopters; rotors; Lagrangian model; Lyapunov analysis; controller design; mini-rotorcraft stabilization; Aerodynamics; Aerospace control; Aircraft; Airplanes; Helicopters; Lagrangian functions; Modems; Rotors; Solid modeling; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389815
