@InProceedings{Supelec403,
author = {Damien Rontani and Houria Siguerdidjane},
title = {{Robust Flatness based control and motion planning of a micro UAV}},
year = {2007},
booktitle = {{Proceedings of the 17th IFAC Symposium on Automatic Control in Aerospace}},
volume = {17},
number = {1},
month = {jun},
address = {Toulouse (France)},
abstract = {The design of a controller combining flatness and sliding modes has been chosen for a Micro Unmanned Aerial Vehicle (MUAV), a highly non linear system. The stabilization of the MUAV is known to be not so simple when it must ensure complex trajectories tracking in a given specified mission. Thus, the controller, to be designed, needs to achieve an asymptotic stabilization with a certain level of robustness, particularly in a turbulent environment. We will show that the proposed model, the choice of state variables, and the controller coupled with Lagragian interpolation of the "stop-stop" trajectories, leads to satisfactory results, in terms of robustness with regards to structured uncertainties and exogenous disturbances.}
}