• automatic control
• guide control
• jump phase
• RC model

In the following thesis work has been implemented a control agent on a remote controlled vehicle, which allows to adjust to a zero value the pitch angle, during the ballistic phase.

The law on which control is based, and from which was born the idea of this thesis, it is the law of conservation of angular momentum, also called the balance of the moment of momentum. This principle states that the moment of a system is constant in time, if the moment of the external forces acting on it is null.

Exploiting this principle, the torque supplied to the wheels is controlled to generate a reaction torque on the frame, such as to bring the system in the desired orientation.

The work has been divided into two parts: the first devoted to the mathematical modeling of the system, with associated simulations to evaluate the feasibility of the final objective; secondly the development of a control that reflected the characteristics of the system.

This second part is subdivided in the installation of electronics used on board and in the creation of the firmware that controls the behavior in two distinct phases: manual control, during the standard guide, and automatic control, during the jump.