Florian Sansou | Searcharxiv

arXiv2024

Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV

We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also describe the realisation of a prototype and a comparison of possible methods for estimating the UAV's states. With this prototype, we report on experimental hovering flights with a non-linear incremental dynamic inversion controller to stabilise the wing and a proportional derivative controller for the fuselage stabilization.

cs.RO↗

arXiv2022

Commande hybride d' un drone convertible pour des déplacements sous optimaux

Whether for their maneuverability, autonomy or ergonomics, convertible UAVs, meaning those with the ability to take off or land vertically and fly like an airplane, present many interests. However, their dynamics are complicated by various phenomena such as non-linearities, aerodynamic couplings or the large number of degrees of freedom, and it is necessary to use new control tools. Thus, hybrid control becomes crucial, useful when making binary choices. Since the drone is able to move in two ways, in pseudo-stationary flight and in horizontal flight, the question of the relevance of a command with respect to the other, according to the operational context, arises. This problem is answered by the design of two nonlinear control laws, based on Lyapunov functions, which allow to validate the requirements. Therefore, depending on the configuration, the hybrid mechanism will have to select the appropriate flight mode. Finally, with the objective of a flight in real conditions, an implementation has been initiated.

eess.SY↗