Nonlinear control of VTOL UAVs incorporating flapping dynamics

  title={Nonlinear control of VTOL UAVs incorporating flapping dynamics},
  author={Sammy Omari and Minh-Duc Hua and Guillaume Ducard and Tarek Hamel},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents the design and evaluation of a nonlinear control scheme for multirotor helicopters that takes first-order drag effects into account explicitly. A dynamic model including the blade flapping and induced drag forces is presented. Based on this model, a hierarchical nonlinear controller is designed to actively compensates for the nonlinear effects these drag forces. Reported simulation and experimental results indicate the significant performance improvement of the proposed drag… CONTINUE READING