de Rogelio Lozano Juin 2004 2

Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions

Maria Eusebia Guerrero-Sanchez 1,2,∗, Hernan Abaunza 1, Pedro Castillo 1, Rogelio Lozano 1, Carlos Garcia-Beltran 2 and Alejandro Rodriguez-Palacios 2 1 Génie Informatique, Sorbonne Universités, Université de Technologie de Compiègne, CNRS, Heudiasyc UMR 7253, CS 60319, Compiègne cedex 60203, France; [email protected] (H.A.); [email protected] (P.C.); [email protected] (R.L.) 2 Department of Electroni...

Nonlinear Control of the Inertia Wheel Pendulum

Stability and Control of Networked Passive Systems

Attitude Stabilization with Real-time Experiments of a Tail-sitter Aircraft in Horizontal Flight

This paper focusses on the attitude stabilization of a mini tail-sitter aircraft, considering aerodynamic effects. The main characteristic of this vehicle is that it operates in either the hover mode for launch and recovery, or the horizontal mode during cruise. The dynamic model is obtained using the Euler–Lagrange formulation, and aerodynamic effects are obtained by studying the propeller eff...

Observer-based Control of a Pvtol Aircraft

In this paper, we propose an observed-based control for the PVTOL aircraft considering that the angular position is not measurable. The control strategy presented here, is robust with respect to observer errors and takes into account constraints imposed by the nonlinear observer. The observer design is based on the assumption that the horizontal position is the only available measure. We presen...