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Article Dans Une Revue International Journal of Control Année : 2008

Discrete-time stabilization of integrators in cascade: Real-time stabilization of a mini-rotorcraft

Résumé

This paper deals with the problem of stabilizing n integrators in cascade with bounded input using a discrete-time controller. We propose here a control algorithm using saturation functions for the case of 3 integrators and then we extend the development to the case of n integrators. The control methodology developed is simple and is explicitly given. We present a real-time application of the proposed control algorithm for the stabilization of the orientation of a mini-rotorcraft
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Dates et versions

hal-00451002 , version 1 (27-01-2010)

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Rogelio Lozano, Anand Sanchez, Sergio Salazar, Isabelle Fantoni. Discrete-time stabilization of integrators in cascade: Real-time stabilization of a mini-rotorcraft. International Journal of Control, 2008, 81 (6), pp.894-904. ⟨10.1109/CDC.2006.376844⟩. ⟨hal-00451002⟩
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