3-D positioning tasks for RUAS using switched PVTOL controllers
3-D positioning tasks for RUAS using switched PVTOL controllers
复制标题
使用切换 PVTOL 控制器的 RUAS 3-D 定位任务
DOI：
10.1109/icmech.2013.6518537
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
R. Carelli
中科院分区：
文献类型：
--
作者：
A. Brandão;M. S. Filho;C. Rosales;R. Carelli
本文提出了一种与三个垂直起降控制器相关联的切换策略，用于旋翼机的三维导航。该建议是将旋翼机定向到所需的点（使用Z-PVTOL控制器），然后将其向前移动（使用XZ-PVTOL控制器），考虑到身体参考框架。在这种目标搜索中，如果观察到横向位移误差大于阈值，则运行YZ-PVTOL控制器使其最小化。还包括每个这样的子系统的稳定性证明，以及在不影响整个系统稳定性的情况下在它们之间切换的策略。最后，通过实验验证了该方法的有效性，并将其与基于部分非线性反馈的控制器进行了比较，该控制器可同时控制所有自由度。
In this work a switching strategy associated to three PVTOL controllers is proposed to guide a rotorcraft during 3D navigation. The proposal is to orientate the rotorcraft to the desired point (using a Z-PVTOL controller) and then to move it ahead (using a XZ-PVTOL controller), considering the body reference frame. In such goal search, if a lateral displacement error greater than a threshold value is observed an YZ-PVTOL controller is run to minimize it. The stability proof for each of such sub-systems is also included, as well as a strategy to switch between them without affecting the stability of the whole system. Finally, experimental results are presented to validate the proposed approach and its performance during a flight mission is compared to the performance of a controller based on partial nonlinear feedback, proposed to control all degrees of freedom simultaneously.
影响因子：
4.3
作者：
Kendoul, Farid;Fantoni, Isabelle;Nonami, Kenzo
通讯作者：
Nonami, Kenzo