DocumentCode
2621449
Title
Bounded attitude stabilization: Application on four-rotor helicopter
Author
Guerrero-Castellanos, J.F. ; Hably, A. ; Marchand, N. ; Lesecq, S.
Author_Institution
Dept. of Control Syst., INPG, Saint Martin d´´Heres
fYear
2007
fDate
10-14 April 2007
Firstpage
730
Lastpage
735
Abstract
A quaternion based feedback is developed for attitude stabilization of rigid body. The control design takes into account the input bounds and is based on cascaded saturation approach. The global stability is guaranteed. A simulation study of the proposed scheme is illustrated for the four-rotor helicopter.
Keywords
aircraft control; control system synthesis; helicopters; stability; bounded attitude stabilization; control design; four-rotor helicopter; global stability; quaternion based feedback; Feedback; Helicopters; Missiles; Orbital robotics; Quaternions; Robot kinematics; Satellites; Sliding mode control; Space vehicles; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363073
Filename
4209177
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