ROBUST FLATNESS BASED CONTROL AND MOTION PLANNING OF A MUAV

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. Copyright © 2007, IFAC.