PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine

Autores
Brandãoa, Alexandre Santos; Gandolfo, Daniel; Sarcinelli Filho, Mário; Carelli Albarracin, Ricardo Oscar
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work proposes a nonlinear controller, based on the Theory of Lyapunov, to stabilize a quadrotor when accomplishing positioning and trajectory tracking tasks restricted to a vertical plane. The maneuvers addressed here are commonly accomplished by PVTOL (Planar Vertical Take-off and Landing) vehicles due to the flight constraints: movement restricted to the Z-axis or to the XZ/YZ planes. The contributions of the paper are the nonlinear controller itself, the proof of stability of the equilibrium of the closed-loop system, and the proposal of an analytical solution to saturate the control signals to prevent the saturation of the physical actuators. Experimental results are also presented, which validate the proposed controller.
Fil: Brandãoa, Alexandre Santos. Universidade Federal de Viicosa. Vicosa; Brasil
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Sarcinelli Filho, Mário. Universidade Federal do Espírito Santo; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
Nonlienar Control
Rotary-Wing Aircrafts
Quadrotor
Pvtol Tasks
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/35943
Acceder
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repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machineBrandãoa, Alexandre SantosGandolfo, DanielSarcinelli Filho, MárioCarelli Albarracin, Ricardo OscarNonlienar ControlRotary-Wing AircraftsQuadrotorPvtol Taskshttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work proposes a nonlinear controller, based on the Theory of Lyapunov, to stabilize a quadrotor when accomplishing positioning and trajectory tracking tasks restricted to a vertical plane. The maneuvers addressed here are commonly accomplished by PVTOL (Planar Vertical Take-off and Landing) vehicles due to the flight constraints: movement restricted to the Z-axis or to the XZ/YZ planes. The contributions of the paper are the nonlinear controller itself, the proof of stability of the equilibrium of the closed-loop system, and the proposal of an analytical solution to saturate the control signals to prevent the saturation of the physical actuators. Experimental results are also presented, which validate the proposed controller.Fil: Brandãoa, Alexandre Santos. Universidade Federal de Viicosa. Vicosa; BrasilFil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Sarcinelli Filho, Mário. Universidade Federal do Espírito Santo; BrasilFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaLavoisier2014-07info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/35943Brandãoa, Alexandre Santos; Gandolfo, Daniel; Sarcinelli Filho, Mário; Carelli Albarracin, Ricardo Oscar; PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine; Lavoisier; European Journal Of Control; 20; 4; 7-2014; 172-1790947-3580CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.ejcon.2014.04.003info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0947358014000326info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:31:31Zoai:ri.conicet.gov.ar:11336/35943instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:31:31.875CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
title PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
spellingShingle PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
Brandãoa, Alexandre Santos
Nonlienar Control
Rotary-Wing Aircrafts
Quadrotor
Pvtol Tasks
title_short PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
title_full PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
title_fullStr PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
title_full_unstemmed PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
title_sort PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
dc.creator.none.fl_str_mv Brandãoa, Alexandre Santos
Gandolfo, Daniel
Sarcinelli Filho, Mário
Carelli Albarracin, Ricardo Oscar
author Brandãoa, Alexandre Santos
author_facet Brandãoa, Alexandre Santos
Gandolfo, Daniel
Sarcinelli Filho, Mário
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Gandolfo, Daniel
Sarcinelli Filho, Mário
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
dc.subject.none.fl_str_mv Nonlienar Control
Rotary-Wing Aircrafts
Quadrotor
Pvtol Tasks
topic Nonlienar Control
Rotary-Wing Aircrafts
Quadrotor
Pvtol Tasks
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work proposes a nonlinear controller, based on the Theory of Lyapunov, to stabilize a quadrotor when accomplishing positioning and trajectory tracking tasks restricted to a vertical plane. The maneuvers addressed here are commonly accomplished by PVTOL (Planar Vertical Take-off and Landing) vehicles due to the flight constraints: movement restricted to the Z-axis or to the XZ/YZ planes. The contributions of the paper are the nonlinear controller itself, the proof of stability of the equilibrium of the closed-loop system, and the proposal of an analytical solution to saturate the control signals to prevent the saturation of the physical actuators. Experimental results are also presented, which validate the proposed controller.
Fil: Brandãoa, Alexandre Santos. Universidade Federal de Viicosa. Vicosa; Brasil
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Sarcinelli Filho, Mário. Universidade Federal do Espírito Santo; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description This work proposes a nonlinear controller, based on the Theory of Lyapunov, to stabilize a quadrotor when accomplishing positioning and trajectory tracking tasks restricted to a vertical plane. The maneuvers addressed here are commonly accomplished by PVTOL (Planar Vertical Take-off and Landing) vehicles due to the flight constraints: movement restricted to the Z-axis or to the XZ/YZ planes. The contributions of the paper are the nonlinear controller itself, the proof of stability of the equilibrium of the closed-loop system, and the proposal of an analytical solution to saturate the control signals to prevent the saturation of the physical actuators. Experimental results are also presented, which validate the proposed controller.
publishDate 2014
dc.date.none.fl_str_mv 2014-07
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/35943
Brandãoa, Alexandre Santos; Gandolfo, Daniel; Sarcinelli Filho, Mário; Carelli Albarracin, Ricardo Oscar; PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine; Lavoisier; European Journal Of Control; 20; 4; 7-2014; 172-179
0947-3580
CONICET Digital
CONICET
url http://hdl.handle.net/11336/35943
identifier_str_mv Brandãoa, Alexandre Santos; Gandolfo, Daniel; Sarcinelli Filho, Mário; Carelli Albarracin, Ricardo Oscar; PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine; Lavoisier; European Journal Of Control; 20; 4; 7-2014; 172-179
0947-3580
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1016/j.ejcon.2014.04.003
info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0947358014000326
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Lavoisier
publisher.none.fl_str_mv Lavoisier
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614326273441792
score 13.070432

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