Global configuration stabilization for the VTOL aircraft with strong input coupling

被引：154

作者：

Olfati-Saber, R ^{[1
]}

机构：

[1] CALTECH, Dept Control & Dynam Syst, Pasadena, CA 91125 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2002年 / 47卷 / 11期

关键词：

autonomous vehicles; backstepping; differential flatness; global stabilization; nonlinear control;

D O I：

10.1109/TAC.2002.804457

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Trajectory tracking and configuration stabilization for the vertical takeoff and landing (VTOL) aircraft has been so far considered in the literature only in the presence of a slight (or zero) input coupling (i.e., for a small epsilon). In this note, our main contribution is to address global configuration stabilization for the VTOL aircraft with a strong input coupling using a smooth static state feedback. In addition, the differentially flat outputs for the VTOL aircraft are automatically obtained as a by-product of applying a decoupling change of coordinates.

引用

页码：1949 / 1952

页数：4

共 10 条

[1] FLATNESS AND DEFECT OF NONLINEAR-SYSTEMS - INTRODUCTORY THEORY AND EXAMPLES [J].

FLIESS, M ;

LEVINE, J ;

MARTIN, P ;

ROUCHON, P .

INTERNATIONAL JOURNAL OF CONTROL, 1995, 61 (06) :1327-1361

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

HAUSER, J ;

SASTRY, S ;

MEYER, G .

AUTOMATICA, 1992, 28 (04) :665-679

[3]

MARTIN P, 1994, IEEE DECIS CONTR P, P2376, DOI 10.1109/CDC.1994.411460

[4]

Milam MB, 2000, IEEE DECIS CONTR P, P845, DOI 10.1109/CDC.2000.912875

[5]

Olfati-Saber R, 2000, IEEE DECIS CONTR P, P2162, DOI 10.1109/CDC.2000.914115

[6]

Olfati-Saber R., 2001, Ph.D. dissertation

[7]

OLFATISABER R, 2002, 2002003 CITCDS CALTE

[8]

OLFATISABER R, 1998, P 37 C DEC CONTR TAM, V4, P4182

[9]

Sepulchre R., 1997, Constructive Nonlinear Control

[10] SMOOTH STABILIZATION IMPLIES COPRIME FACTORIZATION [J].

SONTAG, ED .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1989, 34 (04) :435-443

← 1 →