Embedded robust nonlinear control for a four-rotor rotorcraft: Validation in real-time with wind disturbances

An embedded robust nonlinear controller to stabilize a four-rotor rotorcraft in presence of crosswind is developed in this paper. A previous dynamical system of the aircraft taking in account aerodynamical effects induced by lateral wind is conceived using the Newton-Euler approach. The stability an...

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Bibliographic Details
Published in2011 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2682 - 2687
Main Authors Munoz, Laura E., Castillo, Pedro, Sanahuja, Guillaume, Santos, Omar
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2011
Subjects
Aerodynamics
Helicopters
Real time systems
Robustness
Rotors
Torque
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Summary:An embedded robust nonlinear controller to stabilize a four-rotor rotorcraft in presence of crosswind is developed in this paper. A previous dynamical system of the aircraft taking in account aerodynamical effects induced by lateral wind is conceived using the Newton-Euler approach. The stability analysis and robustness with respect disturbances is proved using the Lyapunov theory. Simulations have been accomplished to validate the performance of the proposed control schema. Additionally, a prototype with an embedded control system was created to prove, in real-time, the effectiveness and robustness of the proposed algorithm. Experimental results have illustrated the good behavior of the closed-loop system even in presence of several disturbances.
ISBN:1612844545
9781612844541
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2011.6094821