Modelling and Control of Mini-Flying Machines

Abstract

Nonlinear control theory and applications are the main focus of much recent research within the control community at present. A common sentiment is that to make further performance gains it is necessary to formulate and work with the full nonlinear modelled behaviour of practical systems. Aeronautic applications are one field where nonlinearmodels are often available and where there is a key necessity to use high performance control systems. However, whilst many control researchers have access to fairly sophisticated nonlinear aeronautical system models, few will have access to working and experimental systems in the field. One solution to this might be to explore the control of mini-flying machines. It is a fascinating mix of mini-flying machine history, modelling and experimental results from constructed mini flying machines. The volume opens with a historical review featuring the inventions of Leonardo da Vinci, the success of Heinrich Focke and Gert Achgelis (1936) and the first certified commercial helicopter of Igor Sikorsky (ca1950) supported by some fascinating pictures of these technological developments. Through- out the volume, a number of aeronautical control problems are investigated theoretically and then pursued using various type of mini flying machine ex- perimental platforms. One of these platforms is a quad-rotor rotorcraft used in Chapters 2 and 3 for which experiment videos are available on the web at http://www.hds.utc.fr/˜castillo/4r_fr.html.