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Article Dans Une Revue Control Engineering Practice Année : 2009

Stabilization and nonlinear control for a novel trirotor mini-aircraft

Résumé

The dynamical model of an original trirotor helicopter is presented in this paper. The helicopter is composed of three rotors with constant pitch propellers; two fixed rotors turning in opposite directions and one rotor that can be tilted to control the yaw displacement. The dynamical model is obtained via the Euler–Lagrange approach and a nonlinear control strategy is proposed. The roll and the forward displacement are controlled by using a nested saturations control law. The pitch and lateral displacement are controlled in a similar way. The nonlinear controller performance is tested on real experiments using a trirotor rotorcraft. It is shown that the controller is robust to large perturbations on the orientation angles and that it has better behavior than a classical linear state-feedback controller.
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Dates et versions

hal-00449924 , version 1 (23-01-2010)

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Sergio Salazar-Cruz, Rogelio Lozano, Juan Escareño. Stabilization and nonlinear control for a novel trirotor mini-aircraft. Control Engineering Practice, 2009, 17 (8), Vol 17, issue 8, pp 886-894, August 2009. ⟨10.1016/j.conengprac.2009.02.013⟩. ⟨hal-00449924⟩
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