Real-time embedded control system for VTOL aircrafts: Application to stabilize a quad-rotor helicopter

Proceedings of the IEEE International Conference on Control Applications

Volumn , Issue , 2006, Pages 2553-2558

  Lara, David ^a   Sanchez, Anand ^a   Lozano, Rogelio ^a   Castillo, P ^a  

^a UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL LAWS; CONTROL STRATEGIES; EMBEDDED CONTROL SYSTEMS; LOW COSTS; LOW-COST SENSORS; NESTED SATURATIONS; PARALLEL PROCESSING ARCHITECTURES; PD CONTROL; REAL-TIME EXPERIMENT; ROTOR HELICOPTERS; SET-POINT;

AUTOMOBILE PARTS AND EQUIPMENT; CONTROL; CONTROL SYSTEM ANALYSIS; HELICOPTER ROTORS; VTOL/STOL AIRCRAFT;

FLIGHT CONTROL SYSTEMS;

EID: 70350579409     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CACSD-CCA-ISIC.2006.4777040     Document Type: Conference Paper

References (9)

1. S. Bouabdallah and R. Siegwart. Backstepping and sliding-mode techniques applied to an indoor micro quadrotor. In IEEE International Conference on Robotics and Automation, ICRA2005, Barcelona, Spain, April 2005
2. P. Castillo, A. Dzul, and R. Lozano. Real-time stabilization and tracking of a four rotor mini rotorcraft. IEEE Transactions on Control Systems Technology, 12:510-516, 2004
3. P. Castillo, R. Lozano, and A. Dzul. Stabilization of a mini rotorcraft with four rotors. IEEE Control Systems Magazine, 25(6), 2005
4. H. Goldstein. Classical Mechanics. Addison-Wesley Series in Physics. Addison-Wesley, U.S.A., second edition, 1980
5. T. Hamel, R. Mahony, R. Lozano, and J. Ostrowski. Dynamic modeling and configuration stabilization for an x4-flyer. In Proceedings of the 15th IFAC World Congress, Barcelona, Spain, 2002
6. K. Kaaniche, D. Lara, C. Pegard, A. Dupuis, and P. Vasseur. Autonomous aerial surveillance of road traffic. In Proceedings of the 20th Bristol UAV systems Conference, Bristol, U.K., 2005
7. A. Śanchez, I. Fantoni, R. Lozano, and J. De Léon Morales. Observerbased control of a PVTOL aircraft. In 16th IFAC World Congress, Prague, Czech Republic, July 2005
8. A. Tayebi and S. McGilvray. Attitude stabilization of a four-rotor aerial robot. In Proceedings of the 43th IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas, 2004
9. A. R. Teel. Global stabilization and restricted tracking for multiple integrators with bounded controls. Systems & Control Letters, 18:165-171, 1992