Modélisation et commande d'un robot biomimétique volant
作者： Hala Rifai
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摘要: Combinant les avantages des voilures fixes et tournantes, le vol biomimetique presente un avenir prometteur pour microdrones. Le mouvement de l'engin volant est assure par forces aerodynamiques traction portance ainsi que couples crees ailes battantes. Un modele simplifie base sur relations fondamentales la dynamique a ete etabli. Des commandes non lineaires retour d'etat ou mesure capteurs d'attitude embarques sont developpees afin stabiliser l'orientation du corps. La stabilisation position assuree couplage entre l'angle roulis force portance. Les proposees dans cette these faible cout calcul, tiennent compte saturations induites amplitudes maximales angles ailes. Elles basees techniques moyennisation couplees resultats recents corps rigides. robustesse vis-a-vis d'erreurs modele, aerodynamiques, perturbations externes, etc. testee.
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