| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 719749 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
In this paper; we are interested principally in dynamic modelling of the four rotor mini aircraft named as a quadrotor while taking into account the high-order nonholonomic constraints as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. We present also the development and the synthesis of a recursive control algorithm based on backstepping technique ensuring Lyapunov stability and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
