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Commande d'un minidrone à hélice carénée : de la stabilisation dans le vent à la navigation autonome

Jean-Michel Pflimlin 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : The design of autonomous navigation strategies for ducted fan unmanned aerial vehicles
has now become an important research area. Those small vehicles, able to perform stationary
flight, are of great interest for military and civilian applications. The robustness to wind perturbations
is the main challenge of those vehicles. Due to the low Reynolds number and the
atypical shape of the body, the characterization of the aerodynamic forces applied to ducted fan
rotorcrafts is still a difficult problem. Therefore, it is important to estimate those efforts on-line
in order to counter them in control. After a modelling step, we extract a cascade structure of
the system in order to perform nonlinear control design based on backstepping techniques. We
propose a hierarchical controller separated in a high-level position control and a low level attitude
control. Before implementing this control on the vehicle, we have to retrieve the position and
attitude from the measurements of the sensors. We develop nonlinear filtering techniques on the
special orthogonal group to estimate attitude. We also perform IMU/GPS hybridazition to estimate
the position. The estimated state is used in the feedback control to ensure hovering flight.
In a last part, we complete the control scheme to perform autonomous navigation of the vehicle
amidst obstacles. The efficiency of the method is illustrated by simulations and experiments led
on the ducted fan VTOL UAV HoverEye developped by Bertin Technologies.
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Contributor : Emilie Marchand <>
Submitted on : Wednesday, February 21, 2007 - 10:59:51 AM
Last modification on : Friday, January 10, 2020 - 9:10:09 PM
Long-term archiving on: : Friday, September 21, 2012 - 11:40:09 AM


  • HAL Id : tel-00132352, version 1


Jean-Michel Pflimlin. Commande d'un minidrone à hélice carénée : de la stabilisation dans le vent à la navigation autonome. Automatique / Robotique. SUPAERO, 2006. Français. ⟨tel-00132352⟩



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