Bounded control of a flapping wing micro drone in three dimensions
Résumé
This paper presents a bounded control of a flapping micro Unmanned Air Vehicle (UAV) in three dimensions. First, a simplified model of the flapping UAV is presented. The averaging theory shows that for high frequency systems, only the mean aerodynamic forces and torques over a period affect the movement of the body. Therefore, a bounded nonlinear state feedback control, calculated using the averaged model, is applied to the time varying system in order to stabilize it at a desired position in hovering mode. The robustness of the control is tested with respect to the aerodynamic coefficient and to external disturbances.