Flatness-based control of unmanned rotorcrafts
DEI - Room 3B
November 22th, 2010
Rotorcraft technology is among the most frequently adopted in the design of Unmanned Aerial Vehicles (UAVs), in view of its flexibility and suitability for missions such as rescue, surveillance, inspection, mapping and so on. In particular, removing the constraints associated with a manned rotorcraft and dealing with small, lightweight vehicles allow the development of novel configurations for next generation rotorcraft UAVs which offer a significant potential for improved performance but, in turn, pose new challenges as far as stabilization and control are concerned. The present work aims at proving and exploiting the flatness property of the quadrotor dynamics to carry out a trajectory tracking control system design method that takes into account both positioning nonlinearities and parameter uncertainties.