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This paper describes an intuitive control strategy for a four rotors vertical take-off and landing (VTOL) remote-controlled vehicle known as the "X4-flyer". A quasi-stationary flight dynamic modeling including gyroscopic effects due to the rotors dynamics is proposed. A nonlinear controller simplifying the vehicle manipulation and insuring quasi-stationary flight conditions is developed. The approach considers that the rotor dynamics are negligible compared to the body dynamics and develops a control law based on saturating the linear dynamics for bounding the vehicle orientation and limiting it to very small values. Experimental results show the success of this approach.
Guénard et al. (Tue,) studied this question.