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Modelling and stabilization of a mini helicopter having four rotors

Abstract:

We present in this paper a nonlinear control algorithm to stabilize a mini-helicopter having four rotors. The control strategy is based on the Lyapunov analysis and on a nested saturation functions. The control law is simple to implement and very easy to tuning with respect to the others proposed in the literature. The proposed strategy has been successfully applied to the mini-rotorcraft, and the experimental results have shown that the controller performs satisfactorily even when significant disturbances are introduced into the system. Further, experimental results show that the proposed nonlinear controller performs better than an LQR linear controller. Copyright © 2007 CEA-IFAC.