Design of a Controller Allowed the Intuitive Control of an X4-flyer

In this paper, we present a control design for the tele-operation of a miniature unmanned aerial vehicle known as an X4-flyer. A simple dynamic nonlinear model for the vehicle, valid for quasi-stationary flight conditions, is derived as a basis for the control design. To ensure the vehicle remains in the quasistationary flight regime the controller incorporates barrier function on the closedloop system velocity. The proposed control design, based on control Lyapunov function analysis, is simple, robust and can be easily implemented on board the experimental vehicle. Simulations and partial experimental results are provided that validate the performance of the closed-loop system. Copyright 2006 IFAC