Modeling for Control of Symmetric Aerial Vehicles Subjected to Aerodynamic Forces

Abstract : This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to lift and drag aerodynamic forces is addressed assuming a rotational symmetry of the vehicle's shape about the thrust force axis. A condition upon aerodynamic characteristics that allows one to recast the control problem into the simpler case of a spherical vehicle is pointed out. Beside showing how to adapt nonlinear controllers developed for this latter case, the paper extends a previous work by the authors in two directions. First, the 3D case is addressed whereas only motions in a single vertical plane was considered. Secondly, the family of models of aerodynamic forces for which the aforementioned transformation holds is enlarged.
Type de document :
Autre publication
Technical report. 2012
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https://hal.archives-ouvertes.fr/hal-01342414
Contributeur : Tarek Hamel <>
Soumis le : mercredi 6 juillet 2016 - 07:41:51
Dernière modification le : mardi 13 décembre 2016 - 15:41:30

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  • HAL Id : hal-01342414, version 1
  • ARXIV : 1212.1629

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Citation

Daniele Pucci, Tarek Hamel, Pascal Morin, Claude Samson. Modeling for Control of Symmetric Aerial Vehicles Subjected to Aerodynamic Forces. Technical report. 2012. 〈hal-01342414〉

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