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.
Type de document :
Communication dans un congrès
IEEE/RSJ International Conference on Intelligent Robots and Systems , Nov 2013, Tokyo, Japan. IEEE, pp.2419 - 2425, 〈10.1109/IROS.2013.6696696〉
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https://hal.archives-ouvertes.fr/hal-01342407
Contributeur : Tarek Hamel <>
Soumis le : mercredi 6 juillet 2016 - 06:53:50
Dernière modification le : mardi 30 mai 2017 - 01:17:20

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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. IEEE, pp.2419 - 2425, 〈10.1109/IROS.2013.6696696〉. 〈hal-01342407〉

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