Title :
Study on the effects of time-delays on quadrotor-type helicopter dynamics
Author :
Ailon, Amit ; Arogeti, Shai
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Tel Aviv, Israel
Abstract :
This study considers a simple velocity-free controller for altitude/attitude regulation for the highly nonlinear model of a quadrotor-type helicopter. Some useful structural properties of the proposed closed-loop system are considered for studying stability when time-delay appears in the feedback loop. Numerical and simulation results demonstrate the impact of the time delays on the system dynamics.
Keywords :
attitude control; closed loop systems; delays; helicopters; nonlinear control systems; stability; vehicle dynamics; altitude regulation; attitude regulation; closed-loop system; feedback loop; nonlinear model; quadrotor-type helicopter dynamics; stability; structural properties; time-delays; velocity-free controller; Attitude control; Barium; Delay effects; Delays; Stability analysis; Symmetric matrices; Vectors; Quadrotor; attitude regulation; nonlinear model; time-delays; velocity-free controllers;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961388
