INVESTIGADORES
ROSALES Claudio Dario
congresos y reuniones científicas
Título:
3-D positioning tasks for RUAS using switched PVTOL controllers
Autor/es:
BRANDAO, ALEXANDRE S.; SARCINELLI MARIO FILHO; ROSALES CLAUDIO D.; CARELLI RICARDO
Lugar:
Vicenza
Reunión:
Congreso; IEEE International Conference on Mechatronics (ICM); 2013
Institución organizadora:
IEEE
Resumen:
In this work a switching strategy associated to three
PVTOL controllers is proposed to guide a rotorcraft during 3-D navigation. The proposal is to orientate the rotorcraft to the
desired point (using a Z-PVTOL controller) and then to move
it ahead (using a XZ-PVTOL controller), considering the body
reference frame. In such goal search, if a lateral displacement
error greater than a threshold value is observed an YZ-PVTOL
controller is run to minimize it. The stability proof for each
of such sub-systems is also included, as well as a strategy to
switch between them without affecting the stability of the whole
system. Finally, experimental results are presented to validate the
proposed approach and its performance during a flight mission
is compared to the performance of a controller based on partial
nonlinear feedback, proposed to control all degrees of freedom
simultaneously.