Showing papers by "Rogelio Lozano published in 2004"
TL;DR: Real-time experiments show that the proposed controller is able to perform autonomously the tasks of taking off, hovering, and landing and the global stability analysis of the closed-loop system is presented.
Abstract: 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.
628 citations
TL;DR: In this paper, a discrete-time prediction-based statefeedback controller is proposed to control the yaw angular displacement of a 4-rotor mini-helicopter.
158 citations
28 Sep 2004
TL;DR: Experimental results show that the controller is able to perform autonomously the tasks of taking-off, hovering and landing.
Abstract: In this paper we present a controller design and implementation on a mini-rotorcraft having four rotors A Lagrangian model of the helicopter was used for the controller synthesis The proposed controller is based on Lyapunov analysis Experimental results show that the controller is able to perform autonomously the tasks of taking-off, hovering and landing
113 citations
TL;DR: In this article, a simple non-linear controller based on Lyapunov analysis for a planar vertical take-off and landing aircraft (PVTOL) is presented.
74 citations
TL;DR: In this article, the design and implementation of a controller for a two-degree-of-freedom system with a small-scale helicopter mounted on a vertical platform is presented. And the model is based on Lagrangian formulation and the controller is obtained by classical pole-placement techniques for the yaw dynamics and adaptive poleplacement for the altitude dynamics.
Abstract: In this paper, we focus on the design and implementation of a controller for a two degree-of-freedom system. This system is composed of a small-scale helicopter which is mounted on a vertical platform. The model is based on Lagrangian formulation and the controller is obtained by classical pole-placement techniques for the yaw dynamics and adaptive pole-placement for the altitude dynamics. Experimental results show the performance of such a controller. Copyright © 2004 John Wiley & Sons, Ltd.
40 citations
01 Jan 2004
TL;DR: In this article, the authors presented a controller design and its implementation on a mini rotorcraft having four rotors, which is able to perform autonomously the tasks of taking off, hovering, and landing.
Abstract: In this paper, we present a controller design and its implementation on a mini rotorcraft having four rotors. The dy- namic 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.
38 citations
TL;DR: In this paper, a nonlinear observer for the PVTOL aircraft considering that the angular position is not measurable is constructed and the observer design is based on the assumption that the horizontal position is the only available measure.
5 citations