en:research_activities
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| - | ===== Research activities ===== | ||
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| - | I have mainly focused on the following topics: | ||
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| - | == - Modeling and control of VTOL aircrafts in presence of crosswind == | ||
| - | == - Nonlinear control approach based on saturations and Lyapunov analysis == | ||
| - | == - Control systems with delay == | ||
| - | == - UAV localization using vision sensors == | ||
| - | == - Real-time application to flying vehicles == | ||
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| - | \\ | ||
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| - | ---- | ||
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| - | **Abstract: | ||
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| - | Using saturations function properties and Lyapunov theory, I have developed control laws for two types of flying vehicles, the PVTOL aircraft and the four rotor helicopter. Dynamic models based on Euler-Lagrange and Newton-Euler approaches were developed for the quad-rotor helicopter. Afterwards, some algorithms were developed to control system with delay. We have proposed an analysis of stability of a hybrid control algorithm, i.e. the system representation is given in continuous time while the controller is given in discrete time. | ||
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| - | Additionally, | ||
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| - | Currently, we have obtained a model of the PVTOL taking into account crosswind. A new control strategy has been proposed to stabilize the aircraft in presence of wind (L. Muñoz thesis). | ||
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| - | All the proposed control strategies are validated in simulations and in real time experiments. And consequently, | ||
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en/research_activities.1268901295.txt.gz · Last modified: 2010/03/18 09:34 by castillo
