Please use this identifier to cite or link to this item:
Full metadata record
DC FieldValueLanguage
dc.contributor.authorWood, R.en
dc.contributor.authorCazzolato, B.en
dc.identifier.citationProceedings of the European Control Conference 2007 / pp. 3407-3413en
dc.description.abstractThe 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.en
dc.description.statementofresponsibilityRohin Wood and Ben S. Cazzolatoen
dc.titleAggressive nonlinear stabilisation for VTOL vehiclesen
dc.typeConference paperen
dc.contributor.conferenceEuropean Control Conference (2007 : Kos, Greece)en
pubs.library.collectionMechanical Engineering publicationsen
dc.identifier.orcidCazzolato, B. [0000-0003-2308-799X]en
Appears in Collections:Mechanical Engineering publications
Environment Institute publications

Files in This Item:
There are no files associated with this item.

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.