INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
3-D Positioning Tasks for RUAS Using Switched PVTOL Controllers
Autor/es:
ALEXANDRE S. BRANDAO; MÁRIO SARCINELLI-FILHO; CLAUDIO ROSALES; RICARDO CARELLI
Lugar:
Vincenza
Reunión:
Conferencia; 2013 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 misión is compared to the performance of a controller based on partial nonlinear feedback, proposed to control all degrees of freedom simultaneously.
