Hierarchical Autopilot Design based on Immersion & Invariance and Nonlinear Internal Model Tracking Controllers for Autonomous system

Abstract : In this paper, a novel control design is developed for the Octo-rotor using combined controllers based on Immersion and Invariance (I&I) approach for translational trajectory tracking and Nonlinear Internal Model Control (NLIMC) for attitude one. Numerical simulations are performed showing the effectiveness of the proposed control technique in particular under applied disturbances.
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Submitted on : Thursday, October 27, 2016 - 11:31:59 AM
Last modification on : Friday, December 20, 2019 - 11:48:04 AM

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Yasser Bouzid, Houria Siguerdidjane, Yasmina Bestaoui. Hierarchical Autopilot Design based on Immersion & Invariance and Nonlinear Internal Model Tracking Controllers for Autonomous system. 4th IFAC International Conference on Intelligent Control and Automation Sciences (ICONS 2016), Jun 2016, Reims, France. pp.103--108, ⟨10.1016/j.ifacol.2016.07.097⟩. ⟨hal-01388566⟩

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