Asymptotic stability of hierarchical inner-outer loop-based flight controllers

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 17, Issue 1 PART 1, 2008, Pages

  Kendoul, Farid ^a   Fantoni, Isabelle ^a   Lozano, Rogelio ^a  

^a NONE

Author keywords

Flying robots; Guidance navigation and control; Identification and control methods

Indexed keywords

AUTONOMOUS AERIAL VEHICLES; AUTONOMOUS ROTORCRAFTS; CONTROL SCHEMES; FLIGHT CONTROL PROBLEMS; FLIGHT CONTROLLERS; FLYING ROBOTS; GUIDANCE NAVIGATION AND CONTROL; HIERARCHICAL CONTROL; HIERARCHICAL CONTROLLERS; IDENTIFICATION AND CONTROL METHODS; INNER LOOPS; LOOP CONTROL; NON-LINEAR CONTROLLERS; OUTER LOOP; TRANSLATIONAL TRAJECTORY;

ASYMPTOTIC ANALYSIS; ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; CONTROL SYSTEM STABILITY; IDENTIFICATION (CONTROL SYSTEMS); NAVIGATION; SPACECRAFT PROPULSION; SYSTEM STABILITY;

CONTROLLERS;

EID: 79961019012     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20080706-5-KR-1001.0082     Document Type: Conference Paper

References (14)

1. S. Bouabdallah, A. Noth, and R. Siegwart. PID vs LQ control techniques applied to an indoor micro quadrotor. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 2451-2456, Sendai, Japan, 2004.
2. T. Hamel, R. Mahony, R. Lozano, and J. Ostrowski. Dynamic modelling and configuration stabilization for an X4-flyer. In Proc. of the 15th IFAC World Congress, Barcelona, Spain, 2002.
3. E.N. Johnson and S.K. Kannan. Adaptive trajectory control for autonomous helicopters. AIAA Journal of Guidance, Control, and Dynamics, 28(3):524-538, May-June 2005.
4. F. Kendoul, I. Fantoni, and R. Lozano. Modeling and control of a small autonomous aircraft having two tilting rotors. IEEE Transactions on Robotics, 22(6):1297-1302, December 2006.
5. F. Kendoul, D. Lara, I. Fantoni, and R. Lozano. Real-time nonlinear embedded control for an autonomous quadrotor helicopter. AIAA Journal of Guidance, Control, and Dynamics, 30(4):1049-1061, 2007.
6. T.J. Koo and S. Sastry. Output tracking control design of a helicopter model based on approximate linearization. In Proc. of the IEEE Conf. on Decision and Control, pages 3635-3640, Florida, USA, December 1998.
7. Ma. La Civita, G. Papageorgiou, W. C. Messner, and T. Kanade. Design and flight testing of an H1 controller for a robotic helicopter. AIAA Journal of Guidance, Control, and Dynamics, 29(2):485-494, April 2006.
8. R. Mahony and T. Hamel. Robust trajectory tracking for a scale model autonomous helicopter. Int. J. of Robust and Nonlinear Control, 14(12):1035-1059, 2004.
9. K. Nonami. Fully autonomous unmanned small-scale helicopter and micro air vehicle control. In Proc. of the 8th Inter. Conf. on Motion and Vibration Control (MOVIC 2006, Korea, August, 2006.
10. R. Olfati-Saber. Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles. PhD Thesis Report, Department of Electrical Engineering and Computer Science, MIT, USA, 2001.
11. M. Oosterom and R. Babuska. Design of a gain-scheduling mechanism for flight control laws by fuzzy clustering. Control Engineering Practice, 14(7):769-781, 2006.
12. J. Reiner, G.J. Balas, and W.L. Garrard. Robust dynamic inversion for control of highly maneuverable aircraft. AIAA Journal of Guidance, Control, and Dynamics, 18(1):18-24, 1995.
13. R. Sepulcre, M. Jankovic, and P. Kokotovic. Constructive Nonlinear Control. Communications and Control Engineering Series. Springer-Verlag, 1997.
14. E.D. Sontag. Smooth stabilization implies coprime factorization. IEEE Trans. on Automatic Control, 34(4):435-443, 1988.