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This paper addresses the design and experimental evaluation of a controller to steer a helicopter along a desired trajectory. The controller is designed based on Lyapunov's method and backstepping technique. Control laws for thrust and angular velocity are presented that guarantee the convergence of the trajectory tracking error to zero for a simplified helicopter model. Experimental results, which...
In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by Sn, is a sufficient condition for the global asymptotic stabilization of a point in Sn. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference...
This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop...
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