HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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To achieve a high performance level during ground operations, the lateral dynamics of an aircraft must be controlled using all available actuators (rudder, nose wheel steering system and brakes), which gives rise to a challenging allocation problem. This provides an excellent benchmark to compare various kinds of control allocation techniques. In this paper, an exhaustive literature review is first presented. The most relevant allocation methods are then applied to an onground aircraft model, which has been previously validated against a high-fidelity Airbus simulator [1]. An extensive evaluation is finally performed based on a set of performance indicators such as the number of iterations, the convergence time, the error and the actuators consumption.

Abstract-This paper presents development and performance analysis of an indoor low-cost motion tracking system for miniature Unmanned Aerial Vehicles. The proposed system is based on infrared markers embedded on the vehicle, the positions of which are captured in real time by Wiimote infrared cameras. Using at least two of these cameras, vehicle 3D position and orientation can be determined. Implementation of system hardware architecture developed as student research project in academic environment is discussed with its own limitations. Estimation method is presented. System performance analysis is also proposed, addressing optimization of detection area, accuracy and dispersion of measurements, and robustness with respect to outliers and hardware parameters. Experimental results are provided to illustrate system performance and to demonstrate satisfaction of imposed strict constraints for reliable motion tracking of a miniature UAV.

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