Proceedings ArticleDOI
Real-time stabilization and tracking of a four rotor mini-rotorcraft
Pedro Castillo,Alejandro Dzul,Rogelio Lozano +2 more
- pp 3123-3128
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TLDR
Experimental results show good performance of the proposed non-linear controller based on nested saturation on a mini-rotorcraft having 4 rotors.Abstract:
In this paper, we present a controller design and its implementation on a mini-rotorcraft having 4 rotors. The dynamic model is obtained via a Lagrange approach. Experiment results show good performance of the proposed non-linear controller based on nested saturation.read more
Citations
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Proceedings ArticleDOI
PID vs LQ control techniques applied to an indoor micro quadrotor
TL;DR: The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model.
Proceedings ArticleDOI
Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment
TL;DR: In this paper, a theoretical development is presented, and validated through both thrust test stand measurements and vehicle flight tests using the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) quadrotor helicopter.
Proceedings ArticleDOI
Sliding Mode Control of a Quadrotor Helicopter
Rong Xu,Umit Ozguner +1 more
TL;DR: Simulations show that the control law robustly stabilizes a quadrotor and a sliding mode control is proposed to stabilize a class of cascaded under-actuated systems.
Journal ArticleDOI
Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics
TL;DR: The control approach described in this paper is robust since it explicitly deals with unmodeled state-dependent disturbances and forces without needing any prior knowledge of the same.
Proceedings ArticleDOI
Nonlinear control of a quadrotor micro-UAV using feedback-linearization
TL;DR: In this paper, the authors describe the development of a nonlinear vehicle control system based on a decomposition into a nested structure and feedback linearization which can be implemented on an embedded microcontroller.
References
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Journal ArticleDOI
Global stabilization and restricted tracking for multiple integrators with bounded controls
TL;DR: In this paper, a nonlinear combination of saturation functions of linear feedbacks is proposed to stabilize a chain of integrators of arbitrary order, where the saturation function is a linear near the origin of the input.
Book
Aerodynamics, Aeronautics, and Flight Mechanics
TL;DR: In this paper, the authors discuss the production of Thrust Airplane Performance Helicopters and V/STOL Aircraft Static Stability and Control Open-Loop DSC Controlled Motion and Automatic Stability.