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• W1978454080 abstract "This paper deals with the global stabilization of a rigid body by means of a bounded quaternion-based feedback. In addition to input bounds, the nonlinear control takes into account the slew rate limits. The proposed control scheme is generic and can be applied to all systems falling in the framework of rigid bodies. Furthermore, its extreme simplicity rendering it suitable for embedded implementation. It is also shown that the control strategy can be applied to attitude stabilization of a four-rotor mini-helicopter despite gyroscopic effects appear that are not present in the rigid body framework. Several real-time experiments have been performed on a real mini-helicopter in order to show the effectiveness of the proposed control approach." @default.
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• W1978454080 date "2008-01-01" @default.
• W1978454080 modified "2023-10-17" @default.
• W1978454080 title "Bounded attitude stabilization: Real-time application on four-rotor mini-helicopter" @default.
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• W1978454080 doi "https://doi.org/10.3182/20080706-5-kr-1001.00538" @default.
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