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en:stabilisation_et_commande_d_un_uav_en_presence_de_rafales_de_vent [2016/04/07 16:47] – created castilloen:stabilisation_et_commande_d_un_uav_en_presence_de_rafales_de_vent [2016/04/07 17:33] (current) – castillo
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-Today, the inspection of structures is carried out through visual assessments e ected + 
-by quali ed inspectors. This procedure is very expensive and can put the personal in + 
-dangerous situations. Consequently, the development of an unmanned aerial vehicle + 
-equipped with on-board vision systems is privileged nowadays in order to facilitate the +====== Laura MUNOZ HERNANDEZ (HDS)  ====== 
-access to unreachable zones. + 
-In this context, the main focus in the thesis is developing original methods to deal with +\\ 
-planning, reference trajectories generation and tracking issues by a hovering airborne +\\ 
-platform. These methods should allow an automation of the  + 
-ight in the presence of air +**PhD title:**  
-disturbances and obstacles. Within this framework, we are interested in two kinds of +== Stabilisation et commande d’un UAV en présence de rafales de vent == 
-aerial vehicles with hovering capacity: airship and quad-rotors. + 
-Firstly, the mathematical representation of an aerial vehicle in the presence of wind has +  
-been realized using the second law of newton. +\\ 
-Secondly, the question of trajectory generation in the presence of wind has been studied: + 
-the problem of minimal time was formulated, analyzed analytically and solved numerically. +Co-advisor: Isabelle FANTONI \\ 
-Then, a strategy of trajectory planning based on operational research approaches +Grant from __Mexicain Government__ \\ 
-has been developed. +Location: Heudiasyc \\ 
-Thirdly, the problem of trajectory tracking was carried out. A nonlinear robust control +Date PhD finished: **November 26th, 2012** \\ 
-law based on Lyapunov analysis has been proposed. In addition, an autopilot based on +\\ 
-saturation functions for quad-rotor crafts has been developed. + 
-All methods and algorithms proposed in this thesis have been validated through simulations.+Current position: **IR at Tell-Environment ** 
 + 
 +\\ 
 + 
 + 
 + 
 + 
 + 
 +== Abstract == 
 + 
 +This thesis is focused in the design of original and robust control strategies to stabilize 
 +an Unmanned Aerial Vehicle (UAV) in presence of wind disturbances. The proposed 
 +control strategies have been tested in simulations and in real-time experiments 
 +in two different platforms. It introduces the mathematical model of a UAV in presence 
 +of wind. We obtained the dynamical model which takes into account the complementary 
 +forces induced by the wind for a Planar Vertical Take-Off and Landing (PVTOL) 
 +aircraft and for the quadrotor rotorcraft. \\ 
 + 
 +On the other hand, three different nonlinear control laws based on the Lyapunov 
 +analysis have been developed to stabilize the UAV in presence of wind. The first approach 
 +uses the Robust Control Lyapunov Functions (RCLFs). Given the complexity 
 +of the problem, we begun with a mini car which moves on its longitudinal axis. This 
 +result has been extended to the case of the PVTOL aircraft and to the quadrotor rotorcraft. 
 +Several simulations have been carried out to validate the proposed algorithms. 
 +To test its viability in a real application, we have realized experiments using a PVTOL 
 +prototype. The simulations and experimental results in real time showed the good 
 +performance of the control law in closed loop.\\ 
 + 
 +The second approach is based on the saturation functions. We have proposed a 
 +robust analysis with respect to unknown external disturbances and nonlinear uncertainties 
 +in the model. The proof takes the hypothesis that the wind is bounded. The 
 +algorithms have been tested in a quadrotor prototype and the results showed a good 
 +performance even in presence of wind disturbances. \\ 
 + 
 +The last approach considers the intrinsic properties of the quadrotor flying vehicle, 
 +specially the passivity. Thus, a sub-optimal control law has been developed. The 
 +analysis is based on the full energy of the system, the passivity, the Lyapunov theory 
 +and the use of dynamic programming. The simulation results have showed that this 
 +control law can be useful when the flying vehicle has to do more complex maneuvers 
 +than hover. \\ 
 + 
 +Finally, a control scheme using a state observer has been developed. This scheme 
 +uses the Extended Kalman Filter (EKF) to estimate the position in the (x,y) plain and 
 +the vertical velocity ˙z of a quadrotor rotorcraft. Using the measurements of an inertial 
 +measurement unit, an altitude sensor, a vision system and the control inputs the system 
 +state is estimated. The vision system is used to compute the translational velocities 
 +of the vehicle and it is composed by a camera and an optical flow algorithm. The 
 +estimator has been validated by experiments in real time and the results have been very 
 +conclusive. 
 + 
 +\\ 
 +\\ 
 +\\

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en/stabilisation_et_commande_d_un_uav_en_presence_de_rafales_de_vent.1460040433.txt.gz · Last modified: 2016/04/07 16:47 by castillo
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