Real-time stabilization and tracking of a four-rotor mini rotorcraft

被引：418

作者：

Castillo, P ^{[1
]}

Dzul, A

Lozano, R

机构：

[1] Univ Technol Compiegne, CNRS, UMR 6599, Ctr Rech, F-60200 Compiegne, France

[2] Inst Tecnol La Laguna, Div Estudios Posgrado & Invest, Coahuila 27000, Mexico

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2004年 / 12卷 / 04期

关键词：

aircraft control; aircraft dynamics; helicopter control; Lyapunov methods; real-time systems; recursive control algorithms;

D O I：

10.1109/TCST.2004.825052

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a controller design and its implementation on a mini rotorcraft having four rotors. The dynamic model of the four-rotor rotorcraft is obtained via a Lagrange approach. The proposed controller is based on Lyapunov analysis using a nested saturation algorithm. The global stability analysis of the closed-loop system is presented. Real-time experiments show that the controller is able to perform autonomously the tasks of taking off, hovering, and landing.

引用

页码：510 / 516

页数：7

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