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Indoor Navigation Strategies for Aerial Autonomous Systems by Pedro Garcia Gil, Laura Elena Munoz Hernandez, Pedro Castillo-Garcia

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Chapter 6

Nonlinear Control Algorithms with Integral Action*

Abstract

Popular nonlinear controllers are composed of proportional and derivative terms (or their combination). Sometimes when the system is constantly disturbed, the controllers are not capable of achieving the desired position. The integral part in a control scheme is often used to reduce this behavior even in the presence of uncertainties or perturbations; furthermore, when the disturbance is constant, the steady state error converges to zero. In this chapter classical controllers used in the aerial vehicles community are developed with an integral part to stabilize a VTOL (Vertical Take-Off and Landing) aircraft. The proposed algorithms are validated in simulations and real ...

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