Bounded attitude control of rigid bodies: Real-time experimentation to a quadrotor mini-helicopter
نویسندگان
چکیده
منابع مشابه
Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor
The present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely on the measurements of some sensitive ...
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Although periodicity simplifies design and analysis in control theory, it is no more adapted for embedded systems because it results in a conservative usage of resources. Indeed, the control signal is computed and updated at the same rate regardless whether is really required or not. On the other hand, event-driven sampling calls for resources whenever they are indeed necessary. Event-based PID...
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Distributed finite-time attitude containment control for multiple rigid bodies is addressed in this paper. When there exist multiple stationary leaders, we propose a model-independent control law to guarantee that the attitudes of the followers converge to the stationary convex hull formed by those of the leaders in finite time by using both the one-hop and two-hop neighbors’ information. We al...
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ژورنال
عنوان ژورنال: Control Engineering Practice
سال: 2011
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2011.04.004