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arXiv · 1212.1629

Modeling for Control of Symmetric Aerial Vehicles Subjected to Aerodynamic Forces

Daniele Pucci·Tarek Hamel·Pascal Morin·Claude Samson
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Abstract

This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to lift and drag aerodynamic forces is addressed assuming a rotational symmetry of the vehicle's shape about the thrust force axis. A condition upon aerodynamic characteristics that allows one to recast the control problem into the simpler case of a spherical vehicle is pointed out. Beside showing how to adapt nonlinear controllers developed for this latter case, the paper extends a previous work by the authors in two directions. First, the 3D case is addressed whereas only motions in a single vertical plane was considered. Secondly, the family of models of aerodynamic forces for which the aforementioned transformation holds is enlarged.

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Daniele Pucci, Tarek Hamel, Pascal Morin, Claude Samson. 2012-12-07. Modeling for Control of Symmetric Aerial Vehicles Subjected to Aerodynamic Forces. https://arxiv.org/abs/1212.1629

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