Optimisation de trajectoires et de manoeuvres appliquee a un VTOL-UAV (vertical take-off and landing unmanned air vehicle)

Unmanned air vehicles (UAV) are now part of several military forces and many projects have been conducted to build different types of UAVs. The vehicle under study is Bombardier's CL-327, a VTOL-UAV. It is the new model based on the previous CL-227. The new vehicle can handle more payload, has a longer time on mission and is quite faster.; The project is divided in two parts. First, a path following controller is developed using the position and the speed as references. In addition to tracking the reference, the controller must be well suited for controlling the vehicle when hovering. One of the problems that arises when controlling the vehicle is the hard constraints on the input and its rate. Since the aerodynamic model of the vehicle is given in the two main axis of the NED frame, the constraints are quadratic functions of the commands and the command rates. Disturbance rejection must also be addressed.; The second part of the project is the optimisation of observation missions. A mission is separated in three different phases: the displacement to the observation zone, the observation itself and the cruise back. (Abstract shortened by UMI.)...