UMR CNRS 7253

I have mainly focused on the following topics:

Abstract:

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.

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).

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).

All the proposed control strategies are validated in simulations and in real time experiments. And consequently, different aircraft test benchs were conceived.