Proceedings ArticleDOI
Simple real-time control strategy to stabilize the PVTOL aircraft using bounded inputs
Anand Sanchez,Pedro Castillo,Juan Escareno,Hugo Romero,Rogelio Lozano +4 more
- pp 3486-3491
TLDR
In this article, a global stabilization of the well known PVTOL aircraft is presented by using the Lyapunov approach and saturation functions, the control algorithm is arbitrarily bounded Simulations and real-time experiments show the robustness of the controller with respect to aggressive manual disturbances.Abstract:
In this paper we present a global stabilization of the well known PVTOL aircraft The control strategy is obtained by using the Lyapunov approach and saturation functions The control algorithm is arbitrarily bounded Simulations and real-time experiments show the robustness of the controller with respect to aggressive manual disturbancesread more
Citations
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Journal ArticleDOI
Stabilization of n integrators in cascade with bounded input with experimental application to a VTOL laboratory system
TL;DR: In this paper, a generalized control law is designed in order to quickly implement it on a system, as choosing a degree n gives all conditions to have a stable system, and in the proposed controller the saturation function bound only one state.
Journal ArticleDOI
Co-design of a safe network control quadrotor
TL;DR: This paper deals with the co-design of a Network Control System (NCS) and its diagnosis and a new indicator, sensitive to packet losses is proposed and thus changes in the residuals due to faults or to packets can be differentiated.
Proceedings ArticleDOI
Quadrotor attitude estimation with data losses
TL;DR: All the scenarios that have been tested show the capability of the filter to properly estimate the quadrotor attitude even in the presence of a high rate of data loss, as well as the ability to be modeled with a random process.
Proceedings ArticleDOI
Robust control scheme for trajectory generation and tracking for quadcopters vehicles: Experimental results *
TL;DR: Experimental results confirm the well performance of the closed-loop system when tracking trajectories, even in the presence of perturbations, of the proposed robust control scheme for aerial path generation and tracking.
Journal ArticleDOI
Tail-sitter UAV having one tilting rotor: Modeling, Control and Real-Time Experiments
TL;DR: In this article, a single-rotor tail-sitter Unmanned Aerial Vehicle (UAV) was developed to provide structural benefits for flight stabilization, and a control algorithm based on separated saturation functions was employed to stabilize the vehicle.
References
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Journal ArticleDOI
A nonlinear small gain theorem for the analysis of control systems with saturation
TL;DR: A nonlinear small gain theorem is presented that provides a formalism for analyzing the behavior of certain control systems that contain or utilize saturation.
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.
Journal ArticleDOI
Nonlinear control design for slightly non-minimum phase systems: application to V/STOL aircraft
TL;DR: It is shown that, while straightforward application of the linearization theory to a non-minimum phase system results in a system with a linear input-output response but unstable internal dynamics, designing a feedback control based on a minimum phase approximation to the true system results with desirable properties such as bounded tracking and asymptotic stability.
Book
Non-linear Control for Underactuated Mechanical Systems
Isabelle Fantoni,Rogelio Lozano +1 more
TL;DR: In this article, the application of modern control theory to some important underactuated mechanical systems is discussed, such as the inverted pendulum, the pendubot, the Furuta pendulum and the inertia wheel pendulum.
Journal ArticleDOI
Adding integrations, saturated controls, and stabilization for feedforward systems
Frédéric Mazenc,Laurent Praly +1 more
TL;DR: The proposed approach provides feedback laws with several degrees of freedom which can be exploited to tackle design constraints and serves as a basic tool to be used, in a recursive design, to deal with more complex systems.