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Nonlinear hierarchical adaptive control of a quad tilt-wing UAV

Demirel, Ahmet Eren (2015) Nonlinear hierarchical adaptive control of a quad tilt-wing UAV. [Thesis]

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Official URL: http://risc01.sabanciuniv.edu/record=b1615037 (Table of Contents)

Abstract

Unmanned aerial vehicles (UAVs) have become an indispensable part of many military and civilian applications. The popularity of these vehicles have led to a demand for novel mechanical con gurations and controllers which are adaptable for the requirements of the desired tasks. In this thesis, a nonlinear hierarchical adaptive controller is proposed for the control of a quad tilt-wing unmanned aerial vehicle (SUAVI: Sabanci University Unmanned Aerial Vehicle). SUAVI can take-o vertically as a helicopter and ies like a xed-wing airplane during the long duration ights for power e ciency. In order to compensate for the uncertainties such as moment of inertia changes during the transition from vertical mode to horizontal mode and aerodynamic disturbances an adaptive controller framework is proposed. In the outer loop of the hierarchical control, a model reference adaptive controller with robustifying terms creates required forces to track the reference trajectory and in the inner loop a nonlinear adaptive controller tracks the desired attitude angles to achieve these forces. The proposed controller is applied to a high delity UAV model in the presence of uncertainties, wind disturbances and measurement noise. A structural failure is introduced which results in sudden actuator power drops, mass, inertia and center of gravity changes. Performance of the proposed controller is compared with the feedback linearized xed controller used in earlier studies.

Item Type:Thesis
Additional Information:Yükseköğretim Kurulu Tez Merkezi Tez No: 420274.
Uncontrolled Keywords:Quad-tilt wing UAV. -- Nonlinear control. -- Feedback linearization. -- Model reference adaptive control. -- Dört rotorlu dört-kanat insansız hava aracı. -- Doğrusal olmayan denetim. -- Geribeslemeli doğrusallaştırma. -- Model tabanlı uyarlanır denetim.
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:34710
Deposited By:IC-Cataloging
Deposited On:07 May 2018 16:21
Last Modified:25 Mar 2019 17:26

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