Most Cited Articles of Control Engineering Practice Journal

Bounded attitude control of rigid bodies: Real-time experimentation to a quadrotor mini-helicopter
Volume 19, Issue 8, August 2011, Pages 790-797
J. F. Guerrero-Castellanos | N. Marchand | A. Hably | S. Lesecq | J. Delamare
A quaternion-based feedback is developed for the attitude stabilization of rigid bodies. The control design takes into account a priori input bounds and is based on nested saturation approach. It results in a very simple controller suitable for an embedded use with low computational resources available. The proposed method is generic not restricted to symmetric rigid bodies and does not require the knowledge of the inertia matrix of the body. The control law can be tuned to force closed-loop trajectories to enter in some a priori fixed neighborhood of the origin in a finite time and remain thereafter. The global stability is guaranteed in the case where angular velocity sensors have limited measurement range. The control law is experimentally applied to the attitude stabilization of a quadrotor mini-helicopter. © 2011 Elsevier Ltd.

Attitude and handling improvements through gain-scheduled suspensions and brakes control
Volume 19, Issue 3, March 2011, Pages 252-263
C. Poussot-Vassal | O. Sename | L. Dugard | P. Gáspár | Z. Szabó | J. Bokor
In this paper, the problem of comfort and handling improvements of a ground vehicle is treated through the joint control of the suspension and braking systems. Two H∞ gain-scheduled controllers are synthesized to achieve attitude and yaw performances according to the driving situation, observed through a simple vehicle monitor. The proposed strategy tackles the nonlinear tire braking force in an original way and meets the situation dependent objectives of the vehicle in a unified framework. Simulations on a complex nonlinear full vehicle model, validated using experimental data obtained on a real vehicle, illustrate the improvements brought about by the proposed approach. © 2010 Elsevier Ltd.

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