3-D path-following with a miniature helicopter using a high-level nonlinear underactuated controller.
Alexandre Santos BrandãoVíctor H. AndaluzMário Sarcinelli FilhoRicardo O. CarelliPublished in: ICCA (2011)
Keyphrases
- high level
- tracking control
- control law
- low level
- control method
- variable structure
- motion planning
- neural network controller
- closed loop
- adaptive control
- adaptive controller
- control system
- lyapunov function
- nonlinear systems
- control algorithm
- feedback controller
- higher level
- highly nonlinear
- controller design
- obstacle avoidance
- fuzzy pid
- adaptive neural
- mechanical systems
- programming language
- real time
- model predictive control
- control scheme
- semidefinite programming
- external disturbances
- receding horizon
- continuous stirred tank reactor
- pid controller
- control strategy
- numerical simulations
- mathematical model
- fuzzy logic
- neural network
- sliding mode
- operating conditions