Discrete-time stabilization of integrators in cascade: Real-time stabilization of a mini-rotorcraft

Author

Lozano, Rogelio ; Sanchez, Anand ; Salazar-cruz, Sergio ; Fantoni, Isabelle ; Torres, Jorge

Author_Institution

Heudiasyc Lab., Univ. de Technologie de Compiegne

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

6265

Lastpage

6270

Abstract

This paper deals with the problem of stabilizing n integrators in cascade with bounded input using a discrete-time controller. We propose here a control algorithm using saturation functions for the case of 3 integrators and then we extend the development to the case of n integrators. The control methodology developed is simple and is explicitly given. We present a real-time application of the proposed control algorithm for the stabilization of the orientation of a mini-rotorcraft

Keywords

aircraft control; cascade control; discrete time systems; helicopters; linear systems; multivariable control systems; stability; bounded input control; cascade integrators; discrete-time controller; discrete-time stabilization; helicopter control; minirotorcraft; saturation functions; Automatic control; Control systems; Eigenvalues and eigenfunctions; Helicopters; Iterative methods; Linear feedback control systems; Linear systems; Real time systems; State feedback; USA Councils; Bounded input control; Discrete-time stabilization; Integrators in cascade; Nested saturations; helicopter control; real-time systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.376844

Filename

4177944