UMR CNRS 7253

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en:stabilisation_et_commande_d_un_uav_en_presence_de_rafales_de_vent [2016/04/07 16:47] – castilloen:stabilisation_et_commande_d_un_uav_en_presence_de_rafales_de_vent [2016/04/07 17:33] (current) – castillo
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-====== Eli KAHALE (Evry University)  ======+====== Laura MUNOZ HERNANDEZ (HDS)  ======
  
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 **PhD title:**  **PhD title:** 
-== Planification et Commande d’une plate-forme aéroportée station- naire autonome dédiée à la surveillance des ouvrages d’art ==+== Stabilisation et commande d’un UAV en présence de rafales de vent ==
  
    
 \\ \\
  
-Co-advisor: Yasmina BESTAOUI \\ +Co-advisor: Isabelle FANTONI \\ 
-Grant from __french Government__ \\+Grant from __Mexicain Government__ \\
 Location: Heudiasyc \\ Location: Heudiasyc \\
-Date PhD finished: March, 2014 \\+Date PhD finished: **November 26th, 2012** \\
 \\ \\
-__Collaboration: Evry University__\\ + 
-Current position: ** ATER at Evry University.**+Current position: **IR at Tell-Environment **
  
 \\ \\
 +
 +
  
  
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 == Abstract == == Abstract ==
  
-Today, the inspection of structures is carried out through visual assessments realized 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 access to unreachable zones.\\+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.\\
  
-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 flight in the presence of air disturbances and obstacles. Within this framework, we are interested in two kinds of aerial vehicles with hovering capacity: airship and quad-rotors. \\+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. \\
  
-Firstly, the mathematical representation of an aerial vehicle in the presence of wind has been realized using the second law of Newton. +The last approach considers the intrinsic properties of the quadrotor flying vehicle, 
-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.Then, a strategy of trajectory planning based on operational research approaches has been developed. \\+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. \\
  
-Thirdly, the problem of trajectory tracking was carried out. A nonlinear robust control 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.\\+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.1460040460.txt.gz · Last modified: 2016/04/07 16:47 by castillo
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