کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
700226 890842 2009 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Stabilization and nonlinear control for a novel trirotor mini-aircraft
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Stabilization and nonlinear control for a novel trirotor mini-aircraft
چکیده انگلیسی

The dynamical model of an original trirotor helicopter is presented in this paper. The helicopter is composed of three rotors with constant pitch propellers; two fixed rotors turning in opposite directions and one rotor that can be tilted to control the yaw displacement. The dynamical model is obtained via the Euler–Lagrange approach and a nonlinear control strategy is proposed. The roll and the forward displacement are controlled by using a nested saturations control law. The pitch and lateral displacement are controlled in a similar way. The nonlinear controller performance is tested on real experiments using a trirotor rotorcraft. It is shown that the controller is robust to large perturbations on the orientation angles and that it has better behavior than a classical linear state-feedback controller.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 17, Issue 8, August 2009, Pages 886–894
نویسندگان
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