Optimal control of MAVs´ gliding motion - Part 1: Theoretical background

This paper presents nonlinear and linearized models associated to the flight of Miniature Aerial Vehicles (MAVs). The paper is divided in three parts: the first one is a study of the aerodynamic forces and moments which interfere in a MAV dynamics and a study of the MAV dynamics´ nonlinear forms; the second part is a study of the MAV wing dynamics by using parameterization functions, while the variation of the aerodynamic coefficients with respect to the MAV attack angle and the trajectory parameterization functions is analyzed in the third part of the paper. Finally, some conclusions are shared at the end of the paper.