Kinematic Nonlinear Controller for a Miniature Helicopter via Lyapunov Techniques. Issue 3 (26th June 2013)

• Record Type: Journal Article
• Authors: Salinas, Lucio R.; Slawiñski, Emanuel; Mut, Vicente A.
• Is Part Of: Asian journal of control. Volume 16:Issue 3(2014:May)
• Page Start: 856
• Page End: 870
• Publication Date: 2013-06-26
• Subjects: Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.754
• Languages: English
• ISSNs: 1561-8625

Abstract

<abstract abstract-type="main"> <title>Abstract</title> <p>This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller.</p> </abstract>