Kinematic Nonlinear Controller for a Miniature Helicopter via Lyapunov Techniques
This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using...
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| Veröffentlicht in: | Asian journal of control 2014-05, Vol.16 (3), p.856-870 |
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| container_end_page | 870 |
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| container_issue | 3 |
| container_start_page | 856 |
| container_title | Asian journal of control |
| container_volume | 16 |
| creator | Salinas, Lucio R. Slawiñski, Emanuel Mut, Vicente A. |
| description | This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller. |
| doi_str_mv | 10.1002/asjc.754 |
| format | Article |
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The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. 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| ispartof | Asian journal of control, 2014-05, Vol.16 (3), p.856-870 |
| issn | 1561-8625 1934-6093 |
| language | eng |
| recordid | cdi_proquest_journals_1525158580 |
| source | Wiley Online Library Journals Frontfile Complete |
| subjects | Controllers helicopter Helicopters Kinematics Lyapunov nonlinear UAV Unmanned aerial vehicles |
| title | Kinematic Nonlinear Controller for a Miniature Helicopter via Lyapunov Techniques |
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