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Nonlinear control of VTOL UAVs incorporating flapping dynamics

Abstract : This paper presents the design and evaluation of a nonlinear control scheme for multirotor helicopters that takes first-order drag effects into account explicitly. A dynamic model including the blade flapping and induced drag forces is presented. Based on this model, a hierarchical nonlinear controller is designed to actively compensates for the nonlinear effects these drag forces. Reported simulation and experimental results indicate the significant performance improvement of the proposed drag-augmented control scheme with respect to a conventional nonlinear controller. For completeness, an offline procedure allowing for efficiently identifying the drag parameters is proposed.
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Contributor : Tarek Hamel <>
Submitted on : Wednesday, July 6, 2016 - 6:53:50 AM
Last modification on : Thursday, March 5, 2020 - 12:20:25 PM



Omari Sammy, Minh-Duc Hua, Guillaume Ducard, Tarek Hamel. Nonlinear control of VTOL UAVs incorporating flapping dynamics . IEEE/RSJ International Conference on Intelligent Robots and Systems , Nov 2013, Tokyo, Japan. pp.2419 - 2425, ⟨10.1109/IROS.2013.6696696⟩. ⟨hal-01342407⟩



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