Path tracking control of a flapping Unmanned Air Vehicle (MAV)

International audienceThis paper deals with the path tracking control for a flapping wing Unmanned Air vehicle (UAV) taking into consideration the input saturations. Based on the aerodynamic theory, a simplified model of a high frequency flapping UAV is presented and its average is calculated. Equivalence between the time varying and mean models is shown through averaging theory. Hence, a bounded non linear control, designed using the average model, is applied to the time varying system to drive the position and orientation to desired values. Finally, the robustness with respect to external disturbances is tested