Garcia P.C., Lozano R., Dzul A.E. Modelling and Control of Mini-Flying Machines

Springer-Verlag, London, 2005, 251 p. — ISBN10: 1852339578, ISBN13: 9781852339579.This book presents a systematic study of modelling and nonlinear control of aerial vehicles taking into account mini-aircraft physical nonlinearities and aerodynamical forces, sensors and actuators limitations, and the effects of delays due to the computation time. The objective is to obtain control laws which perform satisfactorily even in presence of disturbances commonly encountered in real applications. This book presents also the development of platforms of aerial vehicles and an overview of the main sensors currently used in mini-UAVs.Modelling and Control of Mini-Flying Machines is an exposition of models developed to assist in the motion control of various types of mini-aircraft:
Planar Vertical Take-off and Landing aircraft;
helicopters;
quadrotor mini-rotorcraft;
other fixed-wing aircraft;
blimps.For each of these it propounds:
detailed models derived from Euler-Lagrange methods;
appropriate nonlinear control strategies and convergence properties;
real-time experimental comparisons of the performance of control algorithms;
review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance;
detailed explanation of the use of the Kalman filter to flying machine localization.To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area.Introduction and Historical Background
The PVTOL Aircraft
The Quad-rotor Rotorcraft
Robust Prediction-based Control for Unstable Delay Systems
Modelling and Control of Mini-helicopters
Helicopter in a Vertical Flying Stand
Modelling and Control of a Tandem-Wing Tail-Sitter UAV
Modelling and Control of Small Autonomous Airships
Sensors, Modems and Microcontrollers for UAVs