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Modélisation et contrôle du vol d'un microdrone à ailes battantes

Abstract : Recent progress made in the domain of microtechnologies allow the design of very small-sized Micro Air Vehicles (MAVs), whose wingspan is inferior than 15 cm, suitable for observation or intervention in hazardous environments. The ability to fly among obstacles or indoor requires both a great agility at low speed and silent displacements, for which the concept of flapping wings – inspired by the flight of insects and hummingbirds – seems to be the most promising. During this thesis, a flight-dynamics-oriented simulation model has been programmed, based upon previous results about the unsteady aerodynamics of insect flight. An optimization of the flapping kinematics through heuristical methods has then been performed, as well as a closed-loop control of this nonlinear and naturally unstable system. A backstepping-based approach has given very good performances for both static and dynamic domains.
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Contributor : Thomas Rakotomamonjy <>
Submitted on : Wednesday, February 8, 2006 - 4:30:00 PM
Last modification on : Friday, June 26, 2020 - 2:00:03 PM
Long-term archiving on: : Saturday, April 3, 2010 - 8:03:38 PM


  • HAL Id : tel-00011565, version 1


Thomas Rakotomamonjy. Modélisation et contrôle du vol d'un microdrone à ailes battantes. Automatique / Robotique. Université de droit, d'économie et des sciences - Aix-Marseille III, 2006. Français. ⟨tel-00011565⟩



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