Simple Real-time Attitude Stabilization of a Quad-rotor Aircraft With Bounded Signals

In this paper, a simple control algorithm to stabilize the attitude of a quad-rotor aircraft is presented. The controller is obtained using the backstepping technique and adding saturation functions. The analysis of convergence is carried out by using the Lyapunov analysis. The performance of the controller with respect to a classical PD controller is compared by simulation. The robustness of the control algorithm with respect to aggressive perturbations is illustrated with real-time experiments