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dc.contributor.author
Gandolfo, Daniel  
dc.contributor.author
Salinas, Lucio Rafael  
dc.contributor.author
Brandão, Alexandre  
dc.contributor.author
Toibero, Juan Marcos  
dc.date.available
2018-11-02T19:56:36Z  
dc.date.issued
2017-07  
dc.identifier.citation
Gandolfo, Daniel; Salinas, Lucio Rafael; Brandão, Alexandre; Toibero, Juan Marcos; Stable Path-Following Control for a Quadrotor Helicopter Considering Energy Consumption; Institute of Electrical and Electronics Engineers; Ieee Transactions on Control Systems Technology; 25; 4; 7-2017; 1423-1430  
dc.identifier.issn
1063-6536  
dc.identifier.uri
http://hdl.handle.net/11336/63544  
dc.description.abstract
A substantial interest in aerial robots has grown in recent years. However, the energetic cost of flying is one of the key challenges nowadays. Rotorcrafts are heavier-than-air flying machines that use lift generated by one or several rotors (vertically oriented propellers), and because of this, they spend a large proportion of their available energy to maintain their own weight in the air. In this brief, this concept is used to evaluate the relationship between navigation speed and energy consumption in a miniature quadrotor helicopter, which travels over a desired path. A novel path-following controller is proposed in which the speed of the rotorcraft is a dynamic profile that varies with the geometric requirements of the desired path. The stability of the control law is proved using the Lyapunov theory. The experimental results using a real quadrotor show the good performance of the proposed controller, and the percentages of involved energy are quantified using a model of a lithium polymer battery that was previously identified.  
dc.format
application/pdf  
dc.language.iso
eng  
dc.publisher
Institute of Electrical and Electronics Engineers  
dc.rights
info:eu-repo/semantics/openAccess  
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/  
dc.subject
Energy Consumption  
dc.subject
Kinematic Model  
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Path-Following Controller  
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Quadrotor  
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Unmanned Aerial Vehicles (Uavs)  
dc.subject.classification
Ingeniería de Sistemas y Comunicaciones  
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Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información  
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INGENIERÍAS Y TECNOLOGÍAS  
dc.title
Stable Path-Following Control for a Quadrotor Helicopter Considering Energy Consumption  
dc.type
info:eu-repo/semantics/article  
dc.type
info:ar-repo/semantics/artículo  
dc.type
info:eu-repo/semantics/publishedVersion  
dc.date.updated
2018-10-22T17:25:55Z  
dc.identifier.eissn
1558-0865  
dc.journal.volume
25  
dc.journal.number
4  
dc.journal.pagination
1423-1430  
dc.journal.pais
Estados Unidos  
dc.description.fil
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina  
dc.description.fil
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina  
dc.description.fil
Fil: Brandão, Alexandre. Universidade Federal de Viçosa; Brasil  
dc.description.fil
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina  
dc.journal.title
Ieee Transactions on Control Systems Technology  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/7556979/  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1109/TCST.2016.2601288