| Título |
Control of the PVTOL system by using a backstepping method and saturation functions |
| Tipo |
Congreso |
| Sub-tipo |
Memoria |
| Descripción |
CIRC 2015 2do CONGRESO INTERNACIONAL DE ROBÓTICA Y COMPUTACIÓN |
| Resumen |
Here we present a control design to solve the regulation problem for a simplified PVTOL system strongly coupled.
Our method is divided in two simultaneous control actions: one
stabilizes the vertical position and the other stabilizes both the
horizontal position and the angle. While the first controller uses a
simple feedback-linearization by using saturation functions that
assign a quasilinear behaviour to the vertical movement, the
second controller is based on a suitable backstepping procedure,
and its developed to force the remaining variables to converge to
the origin. The performance is tested by numerical simulations
and the convergence analysis is based on the Lyapunov method.
|
| Observaciones |
http://www.itlp.edu.mx/seccion.php?CONTENIDO=CIRC%202015&id=218 |
| Lugar |
Cabo San Lucas, Baja California |
| País |
Mexico |
| No. de páginas |
132-137 |
| Vol. / Cap. |
|
| Inicio |
2015-04-28 |
| Fin |
2015-04-30 |
| ISBN/ISSN |
978-607-95534-8-7 |
