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en:research_activities [2010/03/08 15:56] – castillo | en:research_activities [2010/03/18 09:34] – castillo | ||
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- | __Theoretical development__ | + | 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. |
- | 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 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. In order to validate the proposed hybrid control algorithms some real-time experiments were carried out. | + | Additionally, |
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- | == Application | + | Currently, we have obtained a model of the PVTOL taking into account crosswind. A new control strategy has been proposed |
+ | All the proposed control strategies are validated in simulations and in real time experiments. And consequently, | ||
- | Many control strategies based on Lyapunov theory have been developed to stabilize the PVTOL aircraft and the four rotor rotorcraft. To test these control algorithms we designed several experimental platforms. | ||