One way to design the control law of a mini-UAV.

Bernard Lang (1) , Pascal Paquier (2) , Jean-Michel Friedt (2)

1 LAB - Laboratoire d'automatique de Besançon
2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

This paper deals with a method used to design the control law of the μDrone MAV. This vehicle uses six propellers to fly and the dynamic model approximation for the motion is a MIMO linear time-invariant system. As we want to design a linear regulator, it is necessary to build a robust feedback control law. The LQ state feedback regulator design is applied to a standard model, tacking into account some perturbations. This is why the model is augmented with a perturbation vector and an observable subsystem is extracted in order to build a state estimator whose gain is the solution of a LQ problem. The subsystem is then decomposed into a controllable set and an uncontrollable one. The use of an asymptotic rejection strategy of the influence of uncontrollable modes gives the possibility to find a state feedback applied only to the controllable ones. Here again feedback matrix is chosen as the solution of a LQ problem. To compute the weighting matrices of quadratic criterions we use a “partial observability gramian”. The great advantage of this method is due to the use of only three scalars to synthesize the control law.

Domaines: Micro et nanotechnologies/Microélectronique

Bernard Lang, Pascal Paquier, Jean-Michel Friedt. One way to design the control law of a mini-UAV.. 3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV'07) & European Micro Air Vehicle Conference and Flight Competition (EMAV'07)., Sep 2007, Toulouse, France. pp.1-7. ⟨hal-00179460⟩