Kinematic nonlinear controller for a miniature helicopter via Lyapunov techniques

Lucio R. Salinas; Emanuel Slawiñski; Vicente A. Mut

doi:10.1002/asjc.754

Kinematic nonlinear controller for a miniature helicopter via Lyapunov techniques

Lucio R. Salinas^*
, Emanuel Slawiñski
, Vicente A. Mut

^*Corresponding author for this work

Research output: Contribution to journal › Article (Academic Journal) › peer-review

14 Citations (Scopus)

Abstract

This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller.

Original language	English
Pages (from-to)	856-870
Number of pages	15
Journal	Asian Journal of Control
Volume	16
Issue number	3
DOIs	https://doi.org/10.1002/asjc.754
Publication status	Published - 1 May 2014

Keywords

helicopter
Lyapunov
nonlinear
UAV

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10.1002/asjc.754

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Cite this

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title = "Kinematic nonlinear controller for a miniature helicopter via Lyapunov techniques",

abstract = "This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller.",

keywords = "helicopter, Lyapunov, nonlinear, UAV",

author = "Salinas, \{Lucio R.\} and Emanuel Slawi{\~n}ski and Mut, \{Vicente A.\}",

year = "2014",

month = may,

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doi = "10.1002/asjc.754",

language = "English",

volume = "16",

pages = "856--870",

journal = "Asian Journal of Control",

issn = "1561-8625",

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T1 - Kinematic nonlinear controller for a miniature helicopter via Lyapunov techniques

AU - Salinas, Lucio R.

AU - Slawiñski, Emanuel

AU - Mut, Vicente A.

PY - 2014/5/1

Y1 - 2014/5/1

N2 - This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller.

AB - This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller.

KW - helicopter

KW - Lyapunov

KW - nonlinear

KW - UAV

UR - https://www.scopus.com/pages/publications/84901244437

U2 - 10.1002/asjc.754

DO - 10.1002/asjc.754

M3 - Article (Academic Journal)

AN - SCOPUS:84901244437

SN - 1561-8625

VL - 16

SP - 856

EP - 870

JO - Asian Journal of Control

JF - Asian Journal of Control

IS - 3

ER -

Kinematic nonlinear controller for a miniature helicopter via Lyapunov techniques

Abstract

Keywords

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