Simple real-time stabilization of vertical takeoff and landing aircraft with bounded signals

被引：14

作者：

Sanchez, A. ^{[1
]}

Garcia, P. ^{[2
]}

Castillo, P. ^{[1
]}

Lozano, R. ^{[1
]}

机构：

[1] Univ Technol Compiegne, F-60205 Compiegne, France

[2] Univ Politecn Valencia, E-46022 Valencia, Spain

来源：

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 2008年 / 31卷 / 04期

关键词：

Controllers;

D O I：

10.2514/1.32157

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

A simple real-time stabilization of a vertical takeoff and landing (VTOL) aircraft based on Lyapunov analysis and saturation functions is presented. The proposed controller is studied in simulation and in real-time experiments in two prototypes of quad-rotor helicopters. The controller is applied to control the altitude of a radio-controlled electrical quad-rotor helicopter and to stabilize the quad-rotor helicopter in free flight. The controller performs well even with aggressive perturbations. Using saturation functions in the control law, the closed-loop system performance in real conditions are improved.

引用

页码：1166 / 1176

页数：11

共 12 条

[1]

Castillo P., 2005, ADV IND CONTROL

[2]

Etkin B., 1959, Dynamics of Flight, V3rd ed.

[3]

FANTONI I, 2001, COMMUNICATIONS CONTR

[4] NONLINEAR CONTROL DESIGN FOR SLIGHTLY NONMINIMUM PHASE SYSTEMS - APPLICATION TO V/STOL AIRCRAFT [J].