Nonlinear control of VTOL UAVs incorporating flapping dynamics - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2013

Nonlinear control of VTOL UAVs incorporating flapping dynamics

Résumé

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.
Fichier non déposé

Dates et versions

hal-01342407 , version 1 (06-07-2016)

Identifiants

Citer

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⟩
115 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More