Stabilization and nonlinear control for a novel trirotor mini-aircraft

被引：0
|
作者：
Salazar-Cruz, S [1 ]
Lozano, R [1 ]
机构：
[1] UTC, UMR 6599, CNRS, Heudiasyc, F-60205 Compiegne, France
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
mini-rotorcraft; nonlinear control; saturated inputs; trirotor helicopter; DESIGN;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We present a dynamical model of an original trirotor helicopter obtained using the Euler-Lagrange approach. The obtained nonlinear model is then used for designing a nonlinear controller based on nested saturations. The controller performance is shown in real-time experiments.
引用
收藏
页码：2612 / 2617
页数：6
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