Title :
Nonlinear and optimal real-time control of a rotary-wing UAV
Author :
Sanchez, L.A. ; Santos, Omar ; Romero, H. ; Salazar, S. ; Lozano, Rogelio
Author_Institution :
Inf. Technol. & Syst. Res. Center, UAEH, Pachuca, Mexico
Abstract :
In this contribution nonlinear stabilizing and optimal nonlinear control strategies for a quadrotor mini helicopter are addressed. These control strategies are an alternative for the control of flying machines not much explored yet. Simulation and real-time experiences are presented in this contribution. Nonlinear stabilizing control algorithm has been successfully implemented on an autonomous aerial vehicle and demonstrates an acceptable performance.
Keywords :
autonomous aerial vehicles; helicopters; nonlinear control systems; optimal control; stability; autonomous aerial vehicle; flying machine control; nonlinear control; nonlinear stabilization control algorithm; nonlinear stabilization strategy; optimal real-time control; quadrotor mini helicopter; rotary-wing UAV; Equations; Helicopters; Mathematical model; Optimal control; Simulation; Trajectory; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315498
