Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/44998
Type: Conference paper
Title: Aggressive nonlinear stabilisation for VTOL vehicles
Author: Wood, R.
Cazzolato, B.
Citation: Proceedings of the European Control Conference 2007 / pp. 3407-3413
Publisher: EUCA
Publisher Place: Greece
Issue Date: 2007
ISBN: 9789608902855
Conference Name: European Control Conference (2007 : Kos, Greece)
Statement of
Responsibility: 
Rohin Wood and Ben S. Cazzolato
Abstract: The class of systems know as VTOL vehicles encapsulates a wide variety of real world systems of interest including helicopters, jets and unmanned aerial vehicles. These VTOL vehicles exhibit heavily nonlinear dynamics. Consequently, nonlinear control techniques are required to achieve global stabilisation. Often, VTOL vehicles are stabilised using nonlinear cascade techniques. However, if care is not taken, such controllers will contain a singularity that may be encountered during aggressive stabilisation maneuvers. This problem is often overcome through the use of embedded saturation in the controller design such that the singularity is avoided. However, this saturation has the potential to limit controller performance when very aggressive stabilisation is required. In this paper, we propose an alternative design technique for the cascade control of VTOL vehicles. Here we embed additional dynamics into the controller such that we guarantee the singularity is never encountered for all closed loop trajectories. In this manner singularity issues are avoided, while the controller remains capable of executing highly aggressive stabilisation maneuvers.
RMID: 0020076293
Published version: http://www.mecheng.adelaide.edu.au/avc/publications/abstract.php?abstract=368
Appears in Collections:Mechanical Engineering publications
Environment Institute publications

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