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
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363073
