Abstract
Abstract In this paper we design a continuous, nonlinear state feedback controller that aligns the body-fixed thrust direction of a quadrotor helicopter with a constant desired direction given in an inertial coordinate system. The controller is designed based on an energy shaping approach and is able to saturate the control torques. Almost global asymptotic stability of the desired thrust direction is proven for arbitrary unknown moment of inertia matrices. Performance of the closed loop system is verified by simulations.
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