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

页码：2612 / 2617

页数：6

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