DocumentCode :
2369158
Title :
A Coupled Nonlinear Discrete-Time Controller and Observer Designs for Under-actuated Autonomous vehicles with Application to a Quadrotor Aerial Robot
Author :
Guisser, M. Hammed ; Medromi, Hicham ; Ifassiounen, H. ; Saadi, Janah ; Radhy, Nour-eddine
Author_Institution :
Equipe Archit. des Syst., Univ. Hassan II Ain Chock
fYear :
2006
fDate :
6-10 Nov. 2006
Firstpage :
1
Lastpage :
6
Abstract :
This paper addresses the problem of a combined discrete-time nonlinear tracking controller-observer design procedure for a class of underactuated autonomous vehicles with configuration (position and orientation) measurements and modelled via Lagrangian approach; we show the asymptotic stability of the closed loop-dynamics using Lyapunov analysis to guarantee the desired objectives of the tracking controller coupled with the observer (software sensor). The combined observer-control design techniques are applied to an autonomous quadrotor aerial robot. Simulation results are also provided to show the effectiveness of the proposed techniques
Keywords :
Lyapunov methods; aircraft control; asymptotic stability; control system synthesis; discrete time systems; mobile robots; nonlinear control systems; observers; Lagrangian approach; Lyapunov analysis; asymptotic stability; closed loop-dynamics; nonlinear discrete-time controller; observer; orientation measurements; position measurements; quadrotor aerial robot; tracking controller; underactuated autonomous vehicles; Asymptotic stability; Coupled mode analysis; Couplings; Lagrangian functions; Mobile robots; Position measurement; Remotely operated vehicles; Robot sensing systems; Software measurement; Tracking loops;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
ISSN :
1553-572X
Print_ISBN :
1-4244-0390-1
Type :
conf
DOI :
10.1109/IECON.2006.347395
Filename :
4153257
Link To Document :
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