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Titel:

Fast and Saturating Attitude Control for a Quadrotor Helicopter

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Fritsch, O.; Henze, B.; Lohmann, B.
Abstract:
In this paper a continuous, nonlinear state feedback attitude controller for a quadrotor helicopter is presented. The design is based on an energy shaping approach and prioritizes the alignment of the thrust direction due to its prominent role for the translational dynamics. Since the controller tends to saturate the control torques, it achieves short settling times. Almost global asymptotic stability of the desired attitude is proven for arbitrary unknown moment of inertia matrices and the perf...     »
Kongress- / Buchtitel:
Proceedings of the European Control Conference
Jahr:
2013
Jahr / Monat:
2013-07
Monat:
Jul
Nachgewiesen in:
Web of Science
Reviewed:
ja
Sprache:
en
WWW:
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6669242
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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