Optimal control of MAVs' gliding motion - Part 2: Controller design and validation

Abstract

This paper presents an automatic system for the optimal control of the Miniature Aerial Vehicles (MAVs). Starting from the MAVs' motion linear model (section II of the paper), the authors present an optimal system for the stabilization and control of the main variables associated to the general motion of a miniature aerial vehicle (section III of the paper). The theoretical results are validated by numerical simulations in Matlab/Simulink environment (section IV of the paper); the states and command variables' history for the designed optimal control system are plotted and the system functionality is proved.