Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors
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| Format: | Artículo científico |
| Sprache: | en |
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Universidad Nacional Autónoma de México
2009
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| _version_ | 1876466948719509504 |
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| author | S. Araujo-Estrada |
| author_facet | S. Araujo-Estrada |
| contents | Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors S. Araujo-Estrada E. Liceaga-Castro H. Rodríguez-Cortés Ingeniería bounded control Nonlinear control rotary wing vehicle unmanned aerial vehicle trajectory tracking asymptotic stability 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. 2009 artículo científico 1405-7743 https://www.redalyc.org/articulo.oa?id=40416035009 en http://www.redalyc.org/revista.oa?id=404 Ingeniería. Investigación y Tecnología application/pdf Universidad Nacional Autónoma de México Ingeniería. Investigación y Tecnología (México) Num.4 Vol.X |
| format | Artículo científico |
| id | redalyc_40416035009 |
| institution | Redalyc |
| language | en |
| publishDate | 2009 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors S. Araujo-Estrada Ingeniería bounded control Nonlinear control rotary wing vehicle unmanned aerial vehicle trajectory tracking asymptotic stability Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors S. Araujo-Estrada E. Liceaga-Castro H. Rodríguez-Cortés Ingeniería bounded control Nonlinear control rotary wing vehicle unmanned aerial vehicle trajectory tracking asymptotic stability 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. 2009 artículo científico 1405-7743 https://www.redalyc.org/articulo.oa?id=40416035009 en http://www.redalyc.org/revista.oa?id=404 Ingeniería. Investigación y Tecnología application/pdf Universidad Nacional Autónoma de México Ingeniería. Investigación y Tecnología (México) Num.4 Vol.X |
| title | Nonlinear Motion Control of a Rotary Wing Vehicle Powered by Four Rotors |
| topic | Ingeniería bounded control Nonlinear control rotary wing vehicle unmanned aerial vehicle trajectory tracking asymptotic stability |
| url | https://www.redalyc.org/articulo.oa?id=40416035009 |