论文标题
Commande Hybride d'Un Drone Convertible Pour desdéplacementssous Optimaux
Commande hybride d' un drone convertible pour des déplacements sous optimaux
论文作者
论文摘要
无论是因为它们的可操作性，自主性还是人体工程学，可转换的无人机，这意味着那些具有垂直起飞或像飞机一样飞行并飞行的能力的人，都表现出许多兴趣。但是，它们的动态因各种现象，例如非线性，空气动力学耦合或大量自由度而变得复杂，因此有必要使用新的控制工具。因此，在做出二元选择时，混合控制变得至关重要，有用。由于无人机能够以两种方式移动，以伪平台的飞行和横向飞行，因此根据操作环境，命令相对于另一方相关的问题出现了。基于Lyapunov函数的两个非线性控制定律的设计可以回答这个问题，从而允许验证要求。因此，根据配置，混合机构将必须选择适当的飞行模式。最后，以实际条件下飞行的目的，已经启动了实施。
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.
