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Application to Marine and Aerial Vehicles
Abstract
In this chapter, the application of the methodology is extended to marine and aerial vehicles. Here, three representative systems are considered to show that the Linear Algebra-Based Control Design (LAB CD) methodology can be applied to systems of different nature. First, a model of a marine vessel is considered. It is interesting to note that the reference for all the sacrificed variables is not always needed. As a second class of unmanned vehicles, two aerial autonomous devices are considered. First, the control of a planar vertical take-off and landing aircraft is developed. Finally, the control of a quadrotor is considered. The LAB CD methodology is applied, and excellent results are obtained.
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This paper presents the design of a controller that allows a four-rotor helicopter to track a desired trajectory in 3D space. To this aim, a dynamic model obtained from Euler-Lagrange equations describes the robot. This model is represented by numerical methods, with which the control actions for the operation of the system are obtained. The proposed controller is simple and presents good performance in face of uncertainties in the model of the system to be controlled. Zero-convergence proof is included, and simulation results show a good performance of the control system.
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