Global stabilization of a four rotor helicopter with bounded inputs

被引：14

作者：

Hably, Ahmad ^{[1
]}

Marchand, Nicolas ^{[1
]}

机构：

[1] Univ Grenoble 1, Control Syst Dept, Gipsa Lab, ENSIEG,CNRS, F-38402 St Martin Dheres, France

来源：

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | 2007年

关键词：

D O I：

10.1109/IROS.2007.4399323

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a global asymptotic stabilizing control law for a quad-rotor helicopter with bounded inputs. The proposed control design exploits the technique based on the sum of saturating functions and is based on the global stabilization of multiple integrators with bounded inputs. The positiveness of the thrust and the boundedness of the control inputs are taken into account. Numerical simulations show the effectiveness of the proposed controller.

引用

页码：129 / 134

页数：6

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