INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Modelagem e controle nao linear subatuado de um quad-rotor: Parte 1
Autor/es:
ALEXANDRE S. BRANDAO; IGOR PIZETTA; MARIO SARCINELLI; RICARDO CARELLI
Lugar:
Campina Grande
Reunión:
Congreso; XIX Congresso Brasileiro de Automática, CBA 2012; 2012
Institución organizadora:
Universidade Federal de Campina Grande
Resumen:
This work proposes the representation of low- and high level dynamic model of a ArDrone Parrot, using Euler- Lagrange equations. In the sequel, such model is represented according to the underactuated notation. Finally, the complete model is used in the second part of this work in the proposal of a nonlinear controller based on partial feedback linearization, whose stability is demonstrated by the Theory of Lyapunov.
