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This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well-known backstepping nonlinear control design technique and bounded controllers. It is shownthat the resulting closed—loop dynamics evolves inside a set where singularities are avoided. Numerical simulations show the performance of the proposed controller.

Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors