Bounded attitude stabilization: Application on four-rotor helicopter

被引：10
作者：
Guerrero-Castellanos, J. F. [1 ]
Hably, A. [1 ]
Marchand, N. [1 ]
Lesecq, S. [2 ]
机构：
[1] CNRS INPG UJF, GIPSA Lab, Control Syst Dept, ENSIEG BP 46, F-38402 St Martin Dheres, France
[2] CNRS INPG UJF, G2Elab, Elect Engn Dept, F-38402 St Martin Dheres, France
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363073
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A quaternion based feedback is developed for attitude stabilization of rigid body. The control design takes into account the input bounds and is based on cascaded saturation approach. The global stability is guaranteed. A simulation study of the proposed scheme is illustrated for the four-rotor helicopter.
引用
收藏
页码：730 / 735
页数：6
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