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

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.