Bounded Attitude Stabilization: Real-Time Application on Four-Rotor Mini-Helicopter
Résumé
This paper deals with the global stabilization of a rigid body by means of a bounded quaternion-based feedback. In addition to input bounds, the nonlinear control takes into account the slew rate limits. The proposed control scheme is generic and can be applied to several systems that enter in the framework of rigid body. Furthermore, its extreme simplicity rendering it suitable for embedded implementation. In particular, the control strategy is applied on the real-time attitude stabilization of a four-rotor mini-helicopter. Several experiments have been performed in order to show the effectiveness of the proposed control approach.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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