Kinematic Nonlinear Controller for a Miniature Helicopter via Lyapunov Techniques

LUCIO RAFAEL SALINAS; EMANUEL SLAWIÑSKI; VICENTE MUT

ASIAN JOURNAL OF CONTROL

CHINESE AUTOMATIC CONTROL SOC

Año: 2014 vol. 16 p. 856 - 870

1561-8625

This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller.