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This paper proposes a global asymptotic stabilizing control law for a quad-rotor helicopter with bounded inputs. The proposed control design exploits the technique based on the sum of saturating functions and is based on the global stabilization of multiple integrators with bounded inputs. The positiveness of the thrust and the boundedness of the control inputs are taken into account. Numerical simulations...
A quaternion based feedback is developed for attitude stabilization of rigid body. The control design takes into account the input bounds and is based on cascaded saturation approach. The global stability is guaranteed. A simulation study of the proposed scheme is illustrated for the four-rotor helicopter.
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