INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
3-D Path-Following with a Miniature Helicopter Using a High-level Nonlinear Underactuated Controller
Autor/es:
ALEXANDRE S. BRANDAO; VICTOR ANDALUZ; MARIO SARCINELLI; RICARDO CARELLI
Lugar:
Santiago
Reunión:
Conferencia; IEEE Int. Conference on Control and Automation, ICCA'11; 2011
Institución organizadora:
IEEE
Resumen:
This work proposes a controller to guide a miniature helicopter during a 3D path-following task, emphasizing its dynamic stabilization, while reaching a set of reference poses. The proposal includes a nonlinear underactuated control strategy previously proposed for the UAV, implemented as an inner closed loop, to stabilize the helicopter in a given reference pose, as well a path-following controller based on the kinematic model of the rotorcraft implemented as an outer closed loop. A proof of the stability of the equilibrium of the whole closedloop system in the sense of Lyapunov is also presented. Finally, simulation results are presented and discussed, which validate the proposed controller.
