Trajectory tracking for a four rotor mini-aircraft

In this paper, we present a trajectory tracking controller design and its implementation on a mini rotorcraft having four rotors. The dynamic model of the four-rotor rotorcraft is obtained via a Lagrange approach. Trajectory generation algorithm is proposed. The proposed controller is based on Lyapunov analysis using nested saturation control algorithm. Global stability analysis of the closed-loop system is presented. Real-time experiments show that the mini-aircraft is able to track satisfactorily the desired trajectory.