Quad rotor-UAV stabilization by predictor based control

This works deals with the problem to stabilize a Quad rotor-UAV in presence of time-delay and disturbances. The proposed controller is based on the reduction approach, i.e. the system transformation into one without delay which might be stabilized using a regular controller. Mathematical induction method allows to develop a new transformation based on the fundamental theorem of calculus. A closed-loop stability analysis based on Lyapunov theory is address to prove the feasibility of the controller. The proposed technique is applied to an experimental platform with 4 DOF (degrees of freedom) specifically designed to bring a secure and easy way to tune and test experimental controllers.