Control of an Under-Actuated X4-flyer using Integral Backstepping Controller

• Autorzy: Tahar M. , Meguenni Z. , Omari A.

Warianty tytułu

PL

Sterowanie robotem czterowirnikowym przy u˙zyciu kontrolera Integral Backstepping

• Języki publikacji: EN

Abstrakty

EN

This paper presents the study of stabilization with motion planning of the four rotors mini-flying robot (helicopter with four rotors). The dynamic model involves four control inputs which are computed to stabilize the engine with predefined trajectories path. The tracking feedback controller is based on receding horizon point to point steering. It is clear that our device belongs to families of under-actuated systems. Our aim is to obtain control algorithms using Integral Backstepping approach in order to stabilize the engine and to generate its trajectory.

PL

W artykule przedstawiono badania stabilizacji w planowaniu ruchu czterowirnikowego robota (helikopter z czterema wirnikami). Dynamiczny model obejmuje cztery wejsécia sterujqce, które są obliczane w celu stabilizacji silnika dla zdefiniowanej ścieżki trajektorii. Celem jest uzyskanie algorytmów sterowania.

Słowa kluczowe

EN

electrical technology; electrical power engineering; helicopter; dynamical systems; backstepping control

PL

elektrotechnika; elektroenergetyka; helikopter; układy dynamiczne; kontrola backstepping

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2011
• Tom: R. 87, nr 10
• Strony: 251--256
• Opis fizyczny: Bibliogr. 20 poz., il., tabl., wykr.

Twórcy

autor

Tahar M.

autor

Meguenni Z.

autor

Omari A.

• Institute of Automatic, Faculty of Electrical Engineering, M.B University of science and Technology of Oran, B.P. 1505 Oran El M'Naouer, Algeria,

Bibliografia

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