Commande de vol non-linéaire en temps réel d’un drone à voilure fixe

Abstract

In this thesis we studied the implementation and design of a typical configuration fixed-wing research UAV. The ultimate goal being the flight test of an advanced control technique. This objective was achieved through the achievement of several milestones that are also the subject of each chapter of this thesis. Among these include: modeling of the UAV and its experimental parameters for the realization of a non-linear simulation close to reality, the design of the non-linear flight control, the development of the control card and its software, development of the ground station’s software with LabVIEW and ultimately the achievement of the flight tests. The ultimate goal which was the application of an advanced control technique in an experimental flight was successfully completed. Indeed, the experimentation of the UAV’s fast dynamics inversion yielded very good results without using the classic longitudinal and lateral movements decoupling technique along with a gain scheduling based controller. Furthermore, the final system remains easy to use and completely eliminates the time between a control technique design’s completion with the non-linear simulation and its implementation in the real UAV for a flight test.

Date	4 May 2012
Original language	French
Awarding Institution	École de technologie supérieure
Supervisor	Maarouf Saad (Supervisor)