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--- en:cchaffaut [2012/10/16 14:14] – created castillo
+++ en:cchaffaut [2012/10/17 11:39] (current) – castillo
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-=== Seminar SIT55/ASER -- October 16th, 2011, 14h00, Salle Master ===
+=== Seminar SIT55/ASER -- October 9th, 2012, 14h00, Salle Master ===
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-== Some new observers for vehicle dynamics ==
+== Étude de la phase de transition d'un drone tiré par tube dédié :  modélisation et commande ==
-by **Qi CHENG**, ancien postdoc HDS
+by **Corentin CHAFFAUT**, étudiant doctorat HDS
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-To improve the stability control of modern automotive engineering, it is important to get precise knowledge of the vehicle dynamics. At the same time, some key variables of the vehicle dynamics, like the sideslip angle, are difficult to measure directly for technology or economic reasons. Researcher from both engineering and scholar fields propose large amount of algorithms to estimate these variables. To the best of our knowledge, most of these algorithms are based on linearization techniques, among which the extended Kalman filter is the most frequently used algorithm in the unmeasurable variable estimation for automotive control. Some new observers are proposed in the project of PERCOIVE. The particle filters are used in the observers of the sideslip angle. Furthermore, the technique of dual filer is used in the observer in order to deal with the unknown vehicle parameters.
+My presentation will address the transition stage of a Gun-Launched Micro Air Vehicle (GLMAV) whose main goal is to rapidly position a rotorcraft MAV over a high-risk scene (Prison riots, blind zones: e.g. over-the-hill, etc.). The development of this robotic platform is part of an overall ongoing project (GLMAV) headed by the St. Louis French-German Research Institute (ISL). The vehicle is launched at a distance of 500 m and a height of 100 m, where the GLMAV will collect and transmit visual information from the scene. Issues raising from the use of the gun-based launching technique are discussed in detail. A control strategy is proposed to overcome such problems and to stabilize the GLMAV. High-fidelity simulations, covering ballistic and transition phases, validate the control policy adopted to face the MAV gun-launching problem.
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+{{en:pres_glmav_seminaire.pdf|Slides}}
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UMR CNRS 7253

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