Title :
Stabilization and nonlinear control for a novel trirotor mini-aircraft
Author :
Salazar-Cruz, S. ; Lozano, R.
Author_Institution :
Heudiasyc, UMR CNRS 6599 UTC, BP 20529 60205 Compiègne, France
Abstract :
We present a dynamical model of an original trirotor helicopter obtained using the Euler-Lagrange approach. The obtained nonlinear model is then used for designing a nonlinear controller based on nested saturations. The controller performance is shown in real-time experiments.
Keywords :
Mini-rotorcraft; nonlinear control; saturated inputs; trirotor helicopter; Aerospace control; Aircraft; Helicopters; Kinetic energy; Lagrangian functions; Legged locomotion; Rotors; Tail; Torque; Unmanned aerial vehicles; Mini-rotorcraft; nonlinear control; saturated inputs; trirotor helicopter;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570507
