Keeping a ground point in the camera field of view of a landing UAV

Burlion, Laurent; Plinval, Henry de

doi:10.1109/icra.2013.6631405

Cited by 23 publications

(14 citation statements)

References 22 publications

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“…, (1) , e (1) +Ω 1 (38) where Ω 0 > 2g (e, e). Then the values of the κ i 's are deduced κ1 =κ 1 +2g e (1) ,e (1) Ω 0 −2g(e,e) κ2 =κ 2 −Ω 1 +2g e (2) ,e (2) (1) ,e (1) (39) whereκ = κ 1κ2 = 30 10 . Finally, the expressions of the saturations to apply to the controller output are inspired from Eq.…”

Section: Examplementioning

confidence: 99%

“…The output-to input-saturation transformation (OIST) theory was first detailed in [1], [2] and proposes to find a remedy to this by reformulating 'saturations' (or expected bounds) on the regulated variable α into saturations on the controller output u. Other strategies include [3], [4] which use anti-windup loops to constrain the state or outputs in the time-domain.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Output to input saturation transformation: Demonstration and application to disturbed linear systems

Chambon¹,

Burlion²,

Apkarian³

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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In the case of linear systems, control law design is often performed so that the resulting closed-loop meets specific frequency requirements. However, in many cases, it may be observed that the obtained controller does not enforce timedomain requirements amongst which the objective of keeping an output variable in a given interval. In this article, a transformation is proposed to convert expected bounds on an output variable into time-varying saturations on the synthesized linear control law. It is demonstrated that the resulting closedloop is stable and satisfies time-domain constraints in the presence of unknown bounded disturbance. An application to a linear ball and beam model is presented.

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Section: Examplementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Output to input saturation transformation: Demonstration and application to disturbed linear systems

Chambon¹,

Burlion²,

Apkarian³

2015

2015 54th IEEE Conference on Decision and Control (CDC)

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the simple case of relative degree 0, the Output to Input Saturation Transform (OIST) (Burlion (2012), Burlion and de Plinval (2013)) boils down saying that…”

Section: Output To Input Saturation Transform (S)mentioning

confidence: 99%

Longitudinal Manoeuvre Load Control of a Flexible Large-Scale Aircraft

Burlion

Poussot-Vassal

Vuillemin

et al. 2014

IFAC Proceedings Volumes

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“…However, there is not necessarily a guarantee on the fact that the time-domain constraints will actually be satisfied. In this article, the approach presented in Burlion (2012) and applied for example in Burlion and de Plinval (2013) is presented in-depth for state-feedback minimum-phase linear systems subject to disturbances. The output-to input-saturation transformation (OIST) theory proposes to reformulate prescribed bounds on the regulated variable α into state-dependent saturations on the control input u.…”

Section: Introductionmentioning

confidence: 99%

Time-response shaping using output to input saturation transformation

Chambon¹,

Burlion²,

Apkarian³

2017

International Journal of Control

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For linear systems, the control law design is often performed so that the resulting closed-loop meets specific frequency-domain requirements. However, in many cases, it may be observed that the obtained controller does not enforce time-domain requirements amongst which the objective of keeping an output variable in a given interval. In this article, a transformation is proposed to convert prescribed bounds on an output variable into time-varying saturations on the synthesized linear control law. This transformation uses some well-chosen time-varying coefficients so that the resulting time-varying saturations do not overlap in the presence of disturbances. Using an anti-windup approach, it is demonstrated that the origin of the resulting closed-loop is globally asymptotically stable and that the regulated variable satisfies the time-domain constraints in the presence of an unknown finite-energy bounded disturbance. An application to a linear ball and beam model is presented.

show abstract

Keeping a ground point in the camera field of view of a landing UAV

Cited by 23 publications

References 22 publications

Output to input saturation transformation: Demonstration and application to disturbed linear systems

Output to input saturation transformation: Demonstration and application to disturbed linear systems

Longitudinal Manoeuvre Load Control of a Flexible Large-Scale Aircraft

Time-response shaping using output to input saturation transformation

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