Skip to Main content Skip to Navigation
Theses

Contribution à la modélisation, l'identification et la commande d'un hélicoptère miniature

Abstract : Control algorithms are at the heart of the stability and automatic flight capabilities of any aerial vehicle. Synthesis and simulation of control laws are based on a mathematicalmodel of the vehicle, which must be a trade-off between simplicity and accuracy. This work presents a complete system identification methodology applied on a miniature coaxial helicopter. Based on flight mechanics and aerodynamics, several models are built. They differ in the aerodynamic phenomena taken into account. They are identified, compared and validated thanks to flight data, highlighting important phenomena in the accuracy of the model. Several flight control strategies are then studied and evaluated through simulations and experiments with a prototype. The results are in accordance with numerical simulations, thus validating the whole approach.
Complete list of metadatas

Cited literature [139 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-01743829
Contributor : Abes Star :  Contact
Submitted on : Monday, March 26, 2018 - 5:04:24 PM
Last modification on : Friday, May 17, 2019 - 11:38:40 AM
Long-term archiving on: : Thursday, September 13, 2018 - 8:23:13 AM

File

Roussel_Emmanuel_2017_ED269.pd...
Version validated by the jury (STAR)

Identifiers

  • HAL Id : tel-01743829, version 1

Citation

Emmanuel Roussel. Contribution à la modélisation, l'identification et la commande d'un hélicoptère miniature. Automatique / Robotique. Université de Strasbourg, 2017. Français. ⟨NNT : 2017STRAD030⟩. ⟨tel-01743829⟩

Share

Metrics

Record views

190

Files downloads

494