Trajectory tracking of a mini four-rotor helicopter in dynamic environments - a linear algebra approach

摘要

This paper presents the design of a controller that allows a four-rotor helicopter to track a desired trajectory in 3D space. To this aim, a dynamic model obtained from Euler-Lagrange equations describes the robot. This model is represented by numerical methods, with which the control actions for the operation of the system are obtained. The proposed controller is simple and presents good performance in face of uncertainties in the model of the system to be controlled. Zero-convergence proof is included, and simulation results show a good performance of the control system.