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Control of VTOL Vehicles with Thrust-Tilting Augmentation
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- المؤلفون: Hua, Minh-Duc; Hamel, Tarek; Samson, Claude
- المصدر:
IFAC Proceedings Volumes ; 19th World Congress. The International Federation of Automatic Control. ; https://hal.science/hal-01377793 ; 19th World Congress. The International Federation of Automatic Control., Aug 2014, Cape Town, South Africa. pp.2237 - 2244, ⟨10.3182/20140824-6-ZA-1003.00097⟩
- الموضوع:
- نوع التسجيلة:
conference object
- اللغة:
English
- معلومة اضافية
- Contributors:
Institut des Systèmes Intelligents et de Robotique (ISIR); Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS); Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SYSTEMES; Signal, Images et Systèmes (Laboratoire I3S - SIS); Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S); Université Nice Sophia Antipolis (1965 - 2019) (UNS)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UniCA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UniCA)-Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S); Université Nice Sophia Antipolis (1965 - 2019) (UNS)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UniCA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UniCA); Inria Sophia Antipolis - Méditerranée (CRISAM); Institut National de Recherche en Informatique et en Automatique (Inria)
- بيانات النشر:
HAL CCSD
- الموضوع:
2014
- Collection:
HAL Université Côte d'Azur
- الموضوع:
- الموضوع:
Cape Town, South Africa
- نبذة مختصرة :
International audience ; An approach to the control of a VTOL vehicle equipped with complementary thrust-tilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed. The particularity and difficulty of the control problem are epitomized by the existence of a maximum tilting angle which forbids complete and decoupled control of the vehicle's position and attitude in all situations. This problem is here addressed via the formalism of primary and secondary objectives and by extending a solution previously derived in the fixed thrust-direction case. The proposed control design is also illustrated by simulation results involving a quadrotor UAV with all propellers axes pointing in the same monitored tilted direction.
- Relation:
hal-01377793; https://hal.science/hal-01377793; https://hal.science/hal-01377793/document; https://hal.science/hal-01377793/file/1-s2.0-S1474667016419452-main.pdf
- الرقم المعرف:
10.3182/20140824-6-ZA-1003.00097
- الدخول الالكتروني :
https://hal.science/hal-01377793
https://hal.science/hal-01377793/document
https://hal.science/hal-01377793/file/1-s2.0-S1474667016419452-main.pdf
https://doi.org/10.3182/20140824-6-ZA-1003.00097
- Rights:
info:eu-repo/semantics/OpenAccess
- الرقم المعرف:
edsbas.6E0ADEA5
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