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Nonlinear control of a particular tilt-body MAV: The Roll&Fly

Alhéritière, Pierre Antoine and Olivanti, Romain and Lustosa, Leandro R. and Defaÿ, François and Moschetta, Jean-Marc Nonlinear control of a particular tilt-body MAV: The Roll&Fly. (2016) In: The 24th Mediterranean Conference on Control and Automation (MED), 21 June 2016 - 24 June 2016 (Athens, Greece).

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Official URL: http://dx.doi.org/10.1109/MED.2016.7536033


This paper details the design of a nonlinear controller for the Roll&Fly mode of a wheeled tiltbody micro air vehicle (MAV), developed at ISAE-SUPAERO, called the MAVion. The Roll&Fly mode consists in flying while rolling on walls or onto the ground to guide or increase the range of the MAV during detection or inspection missions. It therefore implies wall or ground mechanical interactions that calls for nontrivial control laws. Our approach consists in enabling a nonlinear obstacle-free attitude/height controller to adapt itself to wall interactions. The controller regulates the velocity and attitude of the drone by means of an approach based on backstepping and feedback linearization techniques. The attitude controller is parametrized by quaternion algebra to avoid orientation singularities.

Item Type:Conference or Workshop Item (UNSPECIFIED)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7527573 “© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-01413117
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Deposited On:09 Dec 2016 12:57

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