Stabilization of a PVTOL Aircraft and an Inertia Wheel Pendulum Using Saturation Technique

Ye, Huawen; Wang, Hong; Wang, Haibo

doi:10.1109/tcst.2007.899718

Cited by 83 publications

(43 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…6, pp. 1143-1150, Nov. 2007 A. Zavala-Rio, I. Fantoni, and R. Lozano, "Global stabilization of a PVTOL aircraft model with bounded inputs," Int. J.…”

Section: Referencesmentioning

confidence: 99%

Modeling, Analysis, and Control of Swarming Agents in a Probabilistic Framework

Garg¹,

Fricke²

2012

View full text Add to dashboard Cite

The public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information.Send comments regarding this burden estimate or any other aspect of this collection of information, including suggesstions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA, 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any oenalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS.a. REPORT Modeling, Analysis, and Control of Swarming Agents in a Probabilistic Framework 14. ABSTRACT SECURITY CLASSIFICATION OF:This research effort focuses on the development of a unified, systematic, and formal approach to modeling and control of multi-agent systems, drawing inspiration from biological systems exhibiting swarm behavior. Previously developed works in the application of graph theory were further advanced and applied to a variety of different task-oriented multi-agent systems. New distributed on-board controllers were developed and implemented at the individual level, yielding collective results in exploration, perimeter detection and surveillance, and formation REPORT DATE (DD-MM-YYYY)4. TITLE AND SUBTITLE 01-11-2012 13. SUPPLEMENTARY NOTES The views, opinions and/or findings contained in this report are those of the author(s) and should not contrued as an official Department of the Army position, policy or decision, unless so designated by other documentation. DISTRIBUTION AVAILIBILITY STATEMENTApproved for Public Release; Distribution Unlimited Modeling, Analysis, and Control of Swarming Agents in a Probabilistic Framework UU SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES)6 Report Title ABSTRACTThis research effort focuses on the development of a unified, systematic, and formal approach to modeling and control of multi-agent systems, drawing inspiration from biological systems exhibiting swarm behavior. Previously developed works in the application of graph theory were further advanced and applied to a variety of different task-oriented multi-agent systems. New distributed on-board controllers were developed and implemented at the individual level, yielding collective results in exploration, perimeter detection and surveillance, and formation control that are indistinguishable from similar centrally controlled systems. This distributed control yields robustness and decreased complexity relative to centralized controllers. Simulations and experiments were conducted to validate the analytically obtained results. The major outcomes of this research have been published in a large number of peer-reviewed conference proceed...

show abstract

“…6, pp. 1143-1150, Nov. 2007 A. Zavala-Rio, I. Fantoni, and R. Lozano, "Global stabilization of a PVTOL aircraft model with bounded inputs," Int. J.…”

Section: Referencesmentioning

confidence: 99%

Modeling, Analysis, and Control of Swarming Agents in a Probabilistic Framework

Garg¹,

Fricke²

2012

View full text Add to dashboard Cite

show abstract

“…Proposition 1 If H1) is satisfied, then there always exists a small parameter, such that control (5) stabilizes system (4).…”

Section: Partial Saturation Controlmentioning

confidence: 99%

“…Noticing that an ISS system possesses the "bounded input bounded state" property [10], and the (x 3 , x 4 ) subsystem is ISS with respect to the "input" −sat λ (x 2 ) − sat λ 2 (x 1 ), so x 3 and x 4 and in turn f i ( · ) (i = 1, 2) are bounded. Then, doing integral calculations in a bottom-up manner shows that the claim holds true.…”

Section: Partial Saturation Controlmentioning

confidence: 99%

“…The existing methods, such as forwarding, backstepping, and small gain technique, have been devoted to this issue (see, e.g., [1∼3]). Very recently, reference [4] presented a solution using a saturation method. In that paper, the model is first transformed into a feedforward system, which is subject to higher-order terms, and then a saturated controller with all states being restricted by saturations is provided.…”

Section: Introductionmentioning

confidence: 99%

“…The design/analysis method in this paper is similar to [4], and the common trait is that the boundedness information of the lower subsystem is used to explicitly calculate higherorder terms, and the related estimates in turn guide the tuning of saturation levels. However, the difference lies in the sense that we here take a partial saturation structure and the convergence analysis needs the input-to-state stability (ISS).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

New stabilization design for planar vertical take-off and landing aircrafts

Sheng

Gui

et al. 2011

J. Control Theory Appl.

Self Cite

View full text Add to dashboard Cite

This paper presents a new stabilizing control law for a planar vertical take-off and landing aircraft. The model is first transformed into an equivalent form, and then a control law consisting of a linear term and a saturated term is given for a related subsystem, with the saturation levels being assigned as large as possible. Compared to the existing saturation scheme in which all states are restricted by saturations, the design brings about a relatively fast convergence. The effectiveness and advantage of the design are validated by numerical simulations.

show abstract

Nested Saturation Control for Stabilizing the PVTOL Aircraft

Fantoni¹,

Palomino

2013

Unmanned Aerial Vehicles

View full text Add to dashboard Cite

Stabilization of a PVTOL Aircraft and an Inertia Wheel Pendulum Using Saturation Technique

Cited by 83 publications

References 10 publications

Modeling, Analysis, and Control of Swarming Agents in a Probabilistic Framework

Modeling, Analysis, and Control of Swarming Agents in a Probabilistic Framework

New stabilization design for planar vertical take-off and landing aircrafts

Nested Saturation Control for Stabilizing the PVTOL Aircraft

Contact Info

Product

Resources

About