We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also describe the realisation of a prototype and a comparison of possible methods for estimating the UAV's states. With this prototype, we report on experimental hovering flights with a non-linear incremental dynamic inversion controller to stabilise the wing and a proportional derivative controller for the fuselage stabilization.

翻译：本文提出了一种自由翼无人机的多体动力学模型。该模型能够实现对无人机行为的仿真，并为未来设计覆盖全飞行包线（包括悬停与平飞）的稳定控制律奠定基础。我们同时描述了原型机的实现方案，并对比了多种可能的无人机状态估计方法。基于该原型机，我们报道了采用非线性增量动态逆控制器稳定机翼、结合比例微分控制器稳定机身的实验悬停飞行结果。