Kinematic nonlinear controller for a miniature helicopter via Lyapunov techniques
This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2014 |
| País: | Argentina |
| Institución: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repositorio: | CONICET Digital (CONICET) |
| Idioma: | inglés |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/22125 |
| Acceso en línea: | http://hdl.handle.net/11336/22125 |
| Access Level: | acceso abierto |
| Palabra clave: | Lyapunov Technique Nonlinear Uav Helicopter https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
| Sumario: | This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller. |
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