DocumentCode :
2486379
Title :
Stabilization of a mini-rotorcraft having four rotors
Author :
Castillo, P. ; Lozano, R. ; Dzul, A.
Author_Institution :
Heudiasyc, UTC UMR CNRS, Compiegne, France
Volume :
3
fYear :
2004
fDate :
28 Sept.-2 Oct. 2004
Firstpage :
2693
Abstract :
In this paper we present a controller design and implementation on a mini-rotorcraft having four rotors. A Lagrangian model of the helicopter was used for the controller synthesis. The proposed controller is based on Lyapunov analysis. Experimental results show that the controller is able to perform autonomously the tasks of taking-off, hovering and landing.
Keywords :
Lyapunov methods; control system synthesis; helicopters; rotors; Lagrangian model; Lyapunov analysis; controller design; mini-rotorcraft stabilization; Aerodynamics; Aerospace control; Aircraft; Airplanes; Helicopters; Lagrangian functions; Modems; Rotors; Solid modeling; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
Type :
conf
DOI :
10.1109/IROS.2004.1389815
Filename :
1389815
Link To Document :
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