DocumentCode
3113099
Title
Trajectory tracking for a four rotor mini-aircraft
Author
Salazar-Cruz, S. ; Palomino, A. ; Lozano, Rogelio
Author_Institution
Heudiasyc-UTC UMR 6599 Centre de Recherches de Royallieu B.P. 20529 60205 Compiegne France Tel.: + 33 (0)3 44 23 44 23 ; fax: +33 (0)3 44 23 44 77; sergio@hds.utc.fr
fYear
2005
fDate
12-15 Dec. 2005
Firstpage
2505
Lastpage
2510
Abstract
In this paper, we present a trajectory tracking controller design and its implementation on a mini rotorcraft having four rotors. The dynamic model of the four-rotor rotorcraft is obtained via a Lagrange approach. Trajectory generation algorithm is proposed. The proposed controller is based on Lyapunov analysis using nested saturation control algorithm. Global stability analysis of the closed-loop system is presented. Real-time experiments show that the mini-aircraft is able to track satisfactorily the desired trajectory.
Keywords
Algorithm design and analysis; Automatic control; Displacement control; Kinetic energy; Lagrangian functions; Legged locomotion; Rotors; Stability analysis; Trajectory; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN
0-7803-9567-0
Type
conf
DOI
10.1109/CDC.2005.1582539
Filename
1582539
Link To Document