INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
A Nonlinear Underactuated Controller for 3D-Trajectory Tracking with a Miniature Helicopter
Autor/es:
ALEXANDRE S. BRANDAO; MARIO SARCINELLI; RICARDO CARELLI
Lugar:
Viña del Mar
Reunión:
Congreso; IEEE International Conference on Industrial Technology, IEEE-ICIT 2010; 2010
Institución organizadora:
IEEE
Resumen:
This work proposes a nonlinear controller for an autonomous helicopter, to track a given 3Dtrajectory. The starting point is a dynamic model obtained using the Euler-Lagrange formulation, considering the aircraft as a rigid body. The ¯rst contribution is the proposal of a suitable control law considering the nonlinear model, with no linearization strategy, and a proof of the stability of the closed-loop system that embeds such controller. The second contribution is the fact that the proposed controller is based on the inverse dynamics, focusing on its underactuated-systemcharacter. Finally, simulation results are presented and discussed, which validate the proposed controller.
