Alejandro Dzul

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In this paper, we present a controller design and its implementation on a mini rotorcraft having four rotors. The dynamic model of the four-rotor rotorcraft is obtained via a Lagrange approach. The proposed controller is based on Lyapunov analysis using a nested saturation algorithm. The global stability analysis of the closed-loop system is presented.(More)
F light control of unmanned helicopters is an area that poses interesting problems for control researchers. The classical control strategy for helicopters assumes a linear model obtained for a particular operating point. Applying modern nonlinear control theory can improve the performance of the controller and enable the tracking of aggressive trajectories,(More)
In this paper we present a controller design and implementation on a mini-rotorcraft having four rotors. A Lagrangian model of the helicopter was used for the controller synthesis. The proposed controller is based on Lyapunov analysis. Experimental results show that the controller is able to perform autonomously the tasks of taking-off, hovering and landing.
This article presents a comparison of three control techniques: Nested Saturations, Backstepping and Sliding Modes. The control objective consists of obtaining the best control strategy to stabilize the position of a quad-rotor unmanned aerial vehicle (UAV) when using visual feedback. We propose a visionbased method to measure translational speed as well as(More)
We present a discrete-time prediction-based state-feedback controller. It is shown that this controller stabilizes possibly unstable continuous-time delay systems. The stability is shown to be robust with respect to uncertainties in the knowledge on the plant parameters, the system delay and the sampling period. The proposed prediction-based controller has(More)
To determine the position of a mobile robot continues being a complex and interesting challenge in localization algorithms, whose solution requires the use of estimation techniques of nonlinear systems, a well selection of sensors that fulfill the restrictions imposed by the characteristics of the system, and the selection of the suitable algorithm of(More)