Nonlinear and optimal real-time control of a rotary-wing UAV

L.A. Sanchez , Omar Santos (1) , Hugo Romero (1, 2) , Sergio Salazar (1, 2) , Rogelio Lozano (3, 1)

1 LAFMIA - Laboratoire Franco-Mexicain d'Informatique et d'Automatique
2 CINVESTAV - Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional
3 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

In this contribution nonlinear stabilizing and optimal nonlinear control strategies for a quadrotor mini helicopter are addressed. These control strategies are an alternative for the control of flying machines not much explored yet. Simulation and real-time experiences are presented in this contribution. Nonlinear stabilizing control algorithm has been successfully implemented on an autonomous aerial vehicle and demonstrates an acceptable performance.

Mots clés: optimal control; nonlinear control systems; helicopters; autonomous aerial vehicles; stability

Domaines: Automatique

L.A. Sanchez, Omar Santos, Hugo Romero, Sergio Salazar, Rogelio Lozano. Nonlinear and optimal real-time control of a rotary-wing UAV. American Control Conference (ACC 2012), Jun 2012, Montreal, QC, Canada. pp.3857 - 3862. ⟨hal-00939377⟩