NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER

This paper develops a nonlinear observer and controller applied to a helicopter with 4 rotors. We show how to design a powerful nonlinear control law in term of robustness. In addition, this technique allows reducing the number of sensors to be embedded in the flying system by observing non available or non measurable entities. Performances and the stability of the suggested controller are analyzed through simulations carried out on the model (kinematics and dynamic equations).

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