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1 IIT - Istituto Italiano di Tecnologia 2 ISIR - Institut des Systèmes Intelligents et de Robotique 3 SIS - Signal, Images et Systèmes 4 I3S - Laboratoire d-Informatique, Signaux, et Systèmes de Sophia Antipolis 5 Inria - Institut National de Recherche en Informatique et en Automatique

Abstract : This paper addresses the nonlinear feedback control of Unmanned Aerial Vehicles UAVs with Vertical Take-Off and Landing VTOL capacities, such as multi-copters, ducted fans, helicopters, convertible UAVs, etc. First, dynamic models of these systems are recalled and discussed. Then, a nonlinear feedback control approach is presented. It applies to a large class of VTOL UAVs and aims at ensuring large stability domains and robustness with respect to unmodeled dynamics. This approach addresses most control objectives encountered in practice, for both remotely operated and fully autonomous flight.


Autor: Daniele Pucci - Minh-Duc Hua - Pascal Morin - Tarek Hamel - Claude Samson -



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