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Approches bornées pour la commande des drones

Abstract : The control and design of mini aerial robots have received much attention within the automatic control community throughout the last decade. The main objective of this thesis is the control of two classical under-actuated systems : Planar Vertical Take-Off and Landing aircraft (PVTOL) and the quadrotor, a helicopter with four fixed rotors. The control laws developed take into consideration the bounds on the inputs with a very low computational cost which is crucial in real-time applications with limited embedded capabilities. Both the attitude and position control are considered in this thesis. The control laws are based on the global stabilization of multiple integrators with bounded control and fast predictive control.
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Contributor : Ahmad Hably <>
Submitted on : Monday, February 4, 2008 - 10:16:20 AM
Last modification on : Thursday, November 19, 2020 - 1:00:53 PM
Long-term archiving on: : Thursday, May 6, 2010 - 3:59:29 PM


  • HAL Id : tel-00235438, version 1


Ahmad Hably. Approches bornées pour la commande des drones. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2007. Français. ⟨tel-00235438⟩



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