Abstract
This paper considers the problem of controlling the position and the orientation of a Gun Launched Micro Aerial Vehicle – GLMAV – despite unknown aerodynamic efforts. The proposed approach overcomes the problem of gyroscopic coupling by taking advantage from the structure of the thrust mechanism, which is made up of two counter rotating propellers. An adaptive hierarchical controller is designed, allowing the trajectory tracking and the stabilization of the vehicle's position and orientation while the unknown aerodynamic efforts are estimated by means of an identifier. The overall process is shown to be stable for constant, or slowly time varying, aerodynamic efforts. However numerical simulations demonstrate the satisfying controller's performance even with nonconstant aerodynamic efforts. Experimental results are also provided.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
