Skip to Main content Skip to Navigation
Conference papers

Nonlinear control of a particular tilt-body MAV: The Roll&Fly

Abstract : This paper details the design of a nonlinear controller for the Roll&Fly mode of a wheeled tiltbody micro air vehicle (MAV), developed at ISAE-SUPAERO, called the MAVion. The Roll&Fly mode consists in flying while rolling on walls or onto the ground to guide or increase the range of the MAV during detection or inspection missions. It therefore implies wall or ground mechanical interactions that calls for nontrivial control laws. Our approach consists in enabling a nonlinear obstacle-free attitude/height controller to adapt itself to wall interactions. The controller regulates the velocity and attitude of the drone by means of an approach based on backstepping and feedback linearization techniques. The attitude controller is parametrized by quaternion algebra to avoid orientation singularities.
Document type :
Conference papers
Complete list of metadatas

Cited literature [11 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01413117
Contributor : Open Archive Toulouse Archive Ouverte (oatao) <>
Submitted on : Friday, December 9, 2016 - 1:57:54 PM
Last modification on : Thursday, February 7, 2019 - 4:20:27 PM
Long-term archiving on: : Thursday, March 23, 2017 - 10:22:45 AM

File

Alheritiere_16808.pdf
Files produced by the author(s)

Identifiers

Citation

Pierre Antoine Alhéritière, Romain Olivanti, Leandro Lustosa, François Defay, Jean-Marc Moschetta. Nonlinear control of a particular tilt-body MAV: The Roll&Fly. The 24th Mediterranean Conference on Control and Automation (MED), Jun 2016, Athens, Greece. pp. 826-831, ⟨10.1109/MED.2016.7536033⟩. ⟨hal-01413117⟩

Share

Metrics

Record views

94

Files downloads

211