UMR CNRS 7253

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en:research_activities [2010/03/18 09:34] castilloen:research_activities [2015/06/01 15:56] (current) – removed castillo
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-===== Research activities ===== 
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-I have mainly focused on the following topics: 
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-== - Modeling and control of VTOL aircrafts in presence of crosswind == 
-== - Nonlinear control approach based on saturations and Lyapunov analysis == 
-== - Control systems with delay == 
-== - UAV localization using vision sensors == 
-== - Real-time application to flying vehicles == 
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-**Abstract:** 
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-Using saturations function properties and Lyapunov theory, I have developed control laws for two types of flying vehicles, the PVTOL aircraft and the four rotor helicopter. Dynamic models based on Euler-Lagrange and Newton-Euler approaches were developed for the quad-rotor helicopter. Afterwards, some algorithms were developed to control system with delay. We have proposed an analysis of stability of a hybrid control algorithm, i.e. the system representation is given in continuous time while the controller is given in discrete time.   
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-Additionally, some vision control strategies were proposed to control an UAV using vision sensors. One of the vision systems is composed of a camera, a classical laser line and vision algorithms to compute the distance and the yaw angle of a body with respect to a wall placed in front of the camera frame. The image processing is executed onboard and the obtained measures are, thus, sent to a microprocessor embedded on the helicopter that computes the control strategies (G. Sanahuja thesis).  
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-Currently, we have obtained a model of the PVTOL taking into account crosswind. A new control strategy has been proposed to stabilize the aircraft in presence of wind (L. Muñoz thesis).  
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-All the proposed control strategies are validated in simulations and in real time experiments. And consequently, different aircraft test benchs were conceived. 
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