Bounded attitude stabilization: Application on four-rotor helicopter

Fermi Guerrero Castellanos (1) , Ahmad Hably (2) , Nicolas Marchand (2)

1 GIPSA-SA-IGA - GIPSA - Signal et Automatique pour le Diagnostic et la Surveillance
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

A quaternion based feedback is developed for attitude stabilization of rigid body. The control design takes into account the input bounds and is based on cascaded saturation approach. The global stability is guaranteed. A simulation study of the proposed scheme is illustrated for the four-rotor helicopter.

Domaines: Automatique / Robotique

Fermi Guerrero Castellanos, Ahmad Hably, Nicolas Marchand. Bounded attitude stabilization: Application on four-rotor helicopter. ICRA 2007 - IEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy. ⟨hal-00124332⟩