I have mainly focused on the following topics:

Using saturations function properties and Lyapunov theory, I developed control laws for two types of flying vehicles, the PVTOL aircraft and the four rotor rotorcraft. A dynamic model on Euler-Lagrange approach was developed for four rotor rotorcraft. An algorithm was developed to control system with delay. We have proposed an analysis of stability of a hybrid control algorithm, i.e. the system representation is given in continuous time while the controller is given in discrete time.

Many control strategies based on Lyapunov theory have been developed to stabilize the PVTOL aircraft and the four rotor rotorcraft. To test these control algorithms we designed several experimental platforms.