Real-Time Stabilization and Tracking of a Four-Rotor Mini Rotorcraft

TLDR

The paper presents a controller design and implementation for a four‑rotor mini rotorcraft. The controller is derived from a Lagrangian dynamic model and designed using Lyapunov analysis with a nested saturation algorithm. The closed‑loop system is globally stable, and experiments demonstrate autonomous takeoff, hovering, and landing.

Abstract

In this paper, we present a controller design and its implementation on a mini rotorcraft having four rotors. The dynamic model of the four-rotor rotorcraft is obtained via a Lagrange approach. The proposed controller is based on Lyapunov analysis using a nested saturation algorithm. The global stability analysis of the closed-loop system is presented. Real-time experiments show that the controller is able to perform autonomously the tasks of taking off, hovering, and landing.