Synthèse d'un contrôleur permettant la stabilisation de vitesse d'un drone de type X4-Flyer via la correction d'assiette

Translated title of the contribution: Synthesis of a controller allowing the stabilization of the speed of a type X4-Flyer drone via pitch and yaw correction

Nicolas Guenard*, Vincent Moreau, Tarek Hamel, Robert Mahony

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    2 Citations (Scopus)

    Abstract

    In this paper, we present a control design for the tele-operation of a miniature unmanned aerial vehicle known as an X4-Flyer. A simple dynamic non-linear model for the vehicle, valid for quasi-stationary flight conditions, is derived as a basis for the control design. To ensure the vehicle remains in the quasi-stationary flight regime the controller incorporates saturation constraints on the closed-loop system velocity. The proposed control design, based on control Lyapunov function analysis, is simple, robust and can easily be implemented on board the experimental vehicle. Experimental results are provided that validate the performance of the closed-loop system.

    Translated title of the contributionSynthesis of a controller allowing the stabilization of the speed of a type X4-Flyer drone via pitch and yaw correction
    Original languageFrench
    Pages (from-to)117-138
    Number of pages22
    JournalJournal Europeen des Systemes Automatises
    Volume42
    Issue number1
    DOIs
    Publication statusPublished - 2008

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