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Chapitre D'ouvrage Année : 2017

Chapter 6: Nonlinear control algorithms with integral action

Résumé

Popular nonlinear controllers are composed of proportional and derivative terms (or their combination). Sometimes when the system is constantly disturbed, the controllers are not capable of achieving the desired position. The integral part in a control scheme is often used to reduce this behavior even in the presence of uncertainties or perturbations; furthermore, when the disturbance is constant, the steady state error converges to zero. In this chapter classical controllers used in the aerial vehicles community are developed with an integral part to stabilize a VTOL (Vertical Take-Off and Landing) aircraft. The proposed algorithms are validated in simulations and real flight missions using a quadcopter test-bed. The main results, presented in several graphs, illustrate good performance of the closed-loop system.
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Dates et versions

hal-01469867 , version 1 (16-02-2017)

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Citer

Jose Colmenares-Vazquez, Nicolas Marchand, Angel Gabriel Alatorre Vazquez, Sabine Mondié, Pedro Castillo Garcia. Chapter 6: Nonlinear control algorithms with integral action. P. Castillo, L. E. Munoz and P. Garcia. Indoor navigation strategies for aerial autonomous systems, Elsevier, 2017, 780128051894. ⟨10.1016/B978-0-12-805189-4.00009-3⟩. ⟨hal-01469867⟩
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