SUMMARYThis paper presents a global stabilization of a chain of n integrators in cascade. The control strategy is obtained using the Lyapunov approach and separated saturation functions. Moreover, the stability analysis is obtained using the recurrence theorem. This generalized control law is designed in order to quickly implement it on a system, as choosing a degree n gives all conditions to have a stable system. Moreover, in the proposed controller the saturation function bound only one state. This allows us to easily tune the control parameters. Simulations and real-time experiments are presented for the VTOL platform represented as a chain of two and four integrators in cascade.
The aim of this paper is to present a mini tilt-rotor unmanned aerial vehicle which is capable to perform hover flight. Unlike conventional full-scale tiltrotors, in our design we avoid the use of swashplate and we propose a simpler mechanical design which use only the tilting rotors to stabilize the vehicle dynamics. A detailed mathematical model is derived via the Newton-Euler formalism. A nonlinear control scheme, incorporating bounded smooth function, is obtained from the decoupled dynamics and applied to real prototype for controlling hover flight.
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