Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combi...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2009 |
| País: | México |
| Institución: | Instituto Politécnico Nacional |
| Repositorio: | Redalyc-IPN |
| OAI Identifier: | oai:redalyc.org:40416035009 |
| Acceso en línea: | https://www.redalyc.org/articulo.oa?id=40416035009 |
| Access Level: | acceso abierto |
| Palabra clave: | Ingeniería bounded control Nonlinear control rotary wing vehicle unmanned aerial vehicle trajectory tracking asymptotic stability |
| Sumario: | This paper presents a solution to the motion control problem for a rotary wing vehicle powered by four rotors. It is considered that the rotary wing vehicle performs an indoor low speed flight mission so that aerodynamic effects are not taken into account. The proposed controller is based on a combination of the well-known backstepping nonlinear control design technique and bounded controllers. It is shown that the resulting closed-loop dynamics evolves inside a set where singularities are avoided. Numerical simulations show the performance of the proposed controller. |
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