Embedded robust nonlinear control for a four-rotor rotorcraft: Validation in real-time with wind disturbances
作者： Laura E. Munoz , Pedro Castillo , Guillaume Sanahuja , Omar Santos
DOI: 10.1109/IROS.2011.6094821
关键词: Nonlinear control 、 Aerodynamics 、 Robustness (computer science) 、 Nonlinear system 、 Crosswind 、 Torque 、 Lyapunov function 、 Control theory 、 Engineering 、 Control system 、 Control engineering
摘要: An embedded robust nonlinear controller to stabilize a four-rotor rotorcraft in presence of crosswind is developed this paper. A previous dynamical system the aircraft taking account aerodynamical effects induced by lateral wind conceived using Newton-Euler approach. The stability analysis and robustness with respect disturbances proved Lyapunov theory. Simulations have been accomplished validate performance proposed control schema. Additionally, prototype an was created prove, real-time, effectiveness algorithm. Experimental results illustrated good behavior closed-loop even several disturbances.
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