TRACKING-CONTROL INVESTIGATION OF TWO X4-FLYERS

K. M. Zemalache, L. Beji, H. Maaref

Abstract

Two models of mini-flying robots with four rotors called X4-flyer presented and studied for the stabilization. Both cases with and without motion planning are proposed in this paper. The first is called inertial model with axes orientation and the second is called the inertial model without axes orientation. The control algorithm of the X4-flyer is based on the Lyapunov method and obtained using the backstepping techniques. This enabled to stabilize the engine in hovering and to generate its trajectory. The system behavior using the proposed control law is described through numerical simulations.

References

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Paper Citation


in Harvard Style

M. Zemalache K., Beji L. and Maaref H. (2005). TRACKING-CONTROL INVESTIGATION OF TWO X4-FLYERS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 16-23. DOI: 10.5220/0001157600160023


in Bibtex Style

@conference{icinco05,
author={K. M. Zemalache and L. Beji and H. Maaref},
title={TRACKING-CONTROL INVESTIGATION OF TWO X4-FLYERS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={16-23},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001157600160023},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - TRACKING-CONTROL INVESTIGATION OF TWO X4-FLYERS
SN - 972-8865-30-9
AU - M. Zemalache K.
AU - Beji L.
AU - Maaref H.
PY - 2005
SP - 16
EP - 23
DO - 10.5220/0001157600160023