The purpose of the AURYON Project (Aerial Unmanned Robotic eYe with Outdoor Navigation) is to design a small Unmanned Aerial Vehicle (UAV) in the framework of the mechatronics methodology, that is integrating from the beginning all aspects of the system (mechanical structure, embedded architecture, control algorithms).The vehicle, being a contrarotative birotor, is comparable in behaviour to a helicopter, and its stabilization leads to the same kind of problems. In order to stabilize the aircraft, a Two-Rule-Based Fuzzy Logic controller is introduced. Simulations conducted using an external flight simulator based on finite element models show the robustness of that controller to model uncertainties. That robustness is confirmed through experimental results obtained on the AURYON system.
AURYON. Aerial Unmanned Robotic e Ye with Outdoor Navigation
AURYON. Aerial Unmanned Robotic a Ye with Outdoor Navigation
2008
10 Seiten, 18 Bilder
Article (Journal)
French
automatische Steuerung , Bodenstation , Echtzeitsimulator , elektronische Regelung , Erkundung , Fernsteuerung , Flugregelung , Flugsimulation , Flugzeugelektronik , Forschungsprojekt , Fuzzy-Regler , Hubschrauber , konstruktiver Aufbau , Lenkflugkörper , Machbarkeitsstudie , militärisches Gerät , Miniaturbauweise , mobiler Roboter , Prototyp , Regelungssimulation , Sensor-Aktor-System , Systemarchitektur , Systementwicklung , unbemanntes Gerät , Navigation