TRACKING-CONTROL INVESTIGATION OF TWO X4-FLYERS

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

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Paper

TRACKING-CONTROL INVESTIGATION OF TWO X4-FLYERS

Topics: Robot Design, Development and Control; Vehicle Control Applications

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 16-23, 2005 , Barcelona, Spain

Authors: K. M. Zemalache ; L. Beji and H. Maaref

Affiliation: Université d’Evry - CNRS FRE 2494, France

Keyword(s): X4-flyer, dynamical systems, backstepping control, tracking control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 16-23. DOI: 10.5220/0001157600160023

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - M. Zemalache, K.
AU - Beji, L.
AU - Maaref, H.
PY - 2005
SP - 16
EP - 23
DO - 10.5220/0001157600160023
PB - SciTePress