INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
High-Level Underactuated Nonlinear Control for Rotorcraft Machines
Autor/es:
ALEXANDRE S. BRANDAO; MÁRIO SARCINELLI-FILHO; RICARDO CARELLI
Lugar:
Vincenza
Reunión:
Conferencia; 2013 IEEE International Conference on Mechatronics (ICM); 2013
Institución organizadora:
IEEE
Resumen:
This paper proposes a high-level underactuated nonlinear controller capable to guide a RUAV during a 3D flight. First, it presents a dynamic model to represent the dynamics of the aircraft, explicitly showing its underactuated character. Following, a suitable controller based on partial feedback linearization is designed for stabilizing the rotorcraft dynamics. A proof of the stability of the closed-loop control system in the sense of Lyapunov, including modeled disturbances and parametric errors, is also presented, as well as experimental results obtained with a quadrotor, which validate the proposed model and controller.
