TY - GEN
T1 - Closed-form feedback controllers for set-point and trajectory tracking for the nonlinear model of quadrotor helicopters
AU - Ailon, Amit
PY - 2012/1/1
Y1 - 2012/1/1
N2 - The paper considers basic control problems in the nonlinear model of a quadrotortype helicopter. Simple and robust output-based stabilizing controllers are presented for the attitude and the attitude/altitude subsystems. Closed-form feedback controllers have been established for solving the set-point and the trajectory tracking control problems in the considered model that accounts for the nonlinear couplings between attitude and position. The concept of flatness is applied for motion planning for the autonomous quadrotor aerial vehicle.
AB - The paper considers basic control problems in the nonlinear model of a quadrotortype helicopter. Simple and robust output-based stabilizing controllers are presented for the attitude and the attitude/altitude subsystems. Closed-form feedback controllers have been established for solving the set-point and the trajectory tracking control problems in the considered model that accounts for the nonlinear couplings between attitude and position. The concept of flatness is applied for motion planning for the autonomous quadrotor aerial vehicle.
UR - http://www.scopus.com/inward/record.url?scp=84866054485&partnerID=8YFLogxK
U2 - 10.3182/20120620-3-DK-2025.00027
DO - 10.3182/20120620-3-DK-2025.00027
M3 - Conference contribution
AN - SCOPUS:84866054485
SN - 9783902823038
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 375
EP - 380
BT - ROCOND'12 - 7th IFAC Symposium on Robust Control Design
PB - IFAC Secretariat
T2 - 7th IFAC Symposium on Robust Control Design, ROCOND'12
Y2 - 20 June 2012 through 22 June 2012
ER -