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--- en:research_activities [2010/03/08 15:56] – castillo
+++ en:research_activities [2015/06/01 15:56] (current) – removed castillo
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-===== Research activities =====
-I have mainly focused on the following topics:
-== - 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:**
-__Theoretical development__
-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 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. In order to validate the proposed hybrid control algorithms some real-time experiments were carried out.  Additionally, some vision control strategies were proposed to control an UAV using vision sensors. The obtained results have shown the good performance of the controllers and a new vision embedded system was developed.  Currently, we have obtained a model of the PVTOL taking in account crosswind. A new control strategy has been proposed to stabilize the aircraft in presence of wind. \\
-== Application to flying vehicles ==
-Many control strategies based on Lyapunov theory have been developed to stabilize the PVTOL aircraft and the four rotor rotorcraft. To test these control algorithms we designed several experimental platforms.

UMR CNRS 7253

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