• DocumentCode
    3433476
  • Title

    Flatness-based control of a quadrotor helicopter via feedforward linearization

  • Author

    Formentin, Simone ; Lovera, Marco

  • Author_Institution
    Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza L. Da Vinci, 32, 20133 (Italy)
  • fYear
    2011
  • fDate
    12-15 Dec. 2011
  • Firstpage
    6171
  • Lastpage
    6176
  • Abstract
    The problem of control law design for a small scale quadrotor helicopter is considered. The control problem is decomposed in an outer (position) loop and an inner (attitude) one. An approach based on the flatness property of the quadrotor position dynamics is proposed, while attitude control is dealt with by means of an (almost) globally stabilising control law.
  • Keywords
    Attitude control; Feedforward neural networks; Mathematical model; Trajectory; Vectors; Vehicle dynamics; Vehicles;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
  • Conference_Location
    Orlando, FL, USA
  • ISSN
    0743-1546
  • Print_ISBN
    978-1-61284-800-6
  • Electronic_ISBN
    0743-1546
  • Type

    conf

  • DOI
    10.1109/CDC.2011.6160828
  • Filename
    6160828
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3433476