Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud

Unmanned aerial vehicles (UAVs) have gotten a lot of attention over the last few decades. The use of Unmanned Aerial Vehicles (UAVs) has continued to increase. UAVs are now used for more than just military purposes, with applications ranging from crop surveys and harvesting to tourism. Nonetheless,...

Full description

Saved in:

Bibliographic Details
Main Author:	Mahmud, Nor Laili
Format:	Thesis
Language:	English
Published:	2022
Subjects:	Aeronautics Aeronautical engineering Aircraft
Online Access:	https://ir.uitm.edu.my/id/eprint/75493/1/75493.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-uitm-ir.75493
record_format	uketd_dc
spelling	my-uitm-ir.754932024-06-24T04:26:09Z Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud 2022 Mahmud, Nor Laili Aeronautics. Aeronautical engineering Aircraft Unmanned aerial vehicles (UAVs) have gotten a lot of attention over the last few decades. The use of Unmanned Aerial Vehicles (UAVs) has continued to increase. UAVs are now used for more than just military purposes, with applications ranging from crop surveys and harvesting to tourism. Nonetheless, dealing with the UAVs complex, highly nonlinear dynamics is challenging and difficult. This study focuses on a type of UAV known as a "quadrotor". It has six Degrees of Freedom (DOF) but only four actuators. Due to this, quadrotor is highly nonlinear, multivariable system which is very difficult to control due to the nonlinear coupling between the actuators and the degrees of freedom. Thus, it is crucial to have a suitable and effective control system in order to operate the quadrotor system effectively. The performance of any quadrotor flight experiment is determined primarily by the feedback control scheme used, and the most important components of this feedback system is the controller design. Many control approaches, including proportional-integral-derivative control, backstepping control, and fuzzy control schemes, have been found in the literature. However, these control approaches have a lot of drawbacks, including high computation, a large amount of training data, approximation error, and the presence of uncertainty. These drawbacks affect the quadrotor system performances. To address these issues, a Sliding Mode Control (SMC) with Linear Matrix Inequality (LMI) method is proposed in this study. In the proposed method, LMI will be used to derive sufficient conditions for the existence of a linear sliding surface. The nonlinear differential equations of quadrotor dynamics are first transformed into state-space representations, and the final equation of forces and torques from a single rotor is derived. The presented model is a detailed model, which includes aerodynamic effects and rotor dynamics that are omitted in many literatures. Afterward, three different control approaches to control the altitude, attitude, heading, and position of the quadrotor in space are developed. The first approach is based on the nonlinear Sliding Mode Controller (SMC) with Pole Placement method. The second control approach is based on the Full State Feedback Controller. The third developed controller is a nonlinear Sliding Mode Controller with Linear Matrix Inequality (LMI) method. Simulation based experiments were conducted to evaluate and compare the performance of the three developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. The simulation works were performed using MATLAB/SIMULINK software. Numerical simulations show the effectiveness of the developed quadrotor solutions. The results demonstrate that the proposed quadrotor control scheme is effective; not only it has good robustness, with almost no chattering and fast-tracking dynamic performance, but it also has the ability to maintain stability in the presence of external disturbances and parameter uncertainties. 2022 Thesis https://ir.uitm.edu.my/id/eprint/75493/ https://ir.uitm.edu.my/id/eprint/75493/1/75493.pdf text en public phd doctoral Universiti Teknologi MARA (UiTM) College of Engineering Ahmat Ruslan, Fazlina
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Ahmat Ruslan, Fazlina
topic	Aeronautics Aeronautical engineering Aircraft
spellingShingle	Aeronautics Aeronautical engineering Aircraft Mahmud, Nor Laili Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud
description	Unmanned aerial vehicles (UAVs) have gotten a lot of attention over the last few decades. The use of Unmanned Aerial Vehicles (UAVs) has continued to increase. UAVs are now used for more than just military purposes, with applications ranging from crop surveys and harvesting to tourism. Nonetheless, dealing with the UAVs complex, highly nonlinear dynamics is challenging and difficult. This study focuses on a type of UAV known as a "quadrotor". It has six Degrees of Freedom (DOF) but only four actuators. Due to this, quadrotor is highly nonlinear, multivariable system which is very difficult to control due to the nonlinear coupling between the actuators and the degrees of freedom. Thus, it is crucial to have a suitable and effective control system in order to operate the quadrotor system effectively. The performance of any quadrotor flight experiment is determined primarily by the feedback control scheme used, and the most important components of this feedback system is the controller design. Many control approaches, including proportional-integral-derivative control, backstepping control, and fuzzy control schemes, have been found in the literature. However, these control approaches have a lot of drawbacks, including high computation, a large amount of training data, approximation error, and the presence of uncertainty. These drawbacks affect the quadrotor system performances. To address these issues, a Sliding Mode Control (SMC) with Linear Matrix Inequality (LMI) method is proposed in this study. In the proposed method, LMI will be used to derive sufficient conditions for the existence of a linear sliding surface. The nonlinear differential equations of quadrotor dynamics are first transformed into state-space representations, and the final equation of forces and torques from a single rotor is derived. The presented model is a detailed model, which includes aerodynamic effects and rotor dynamics that are omitted in many literatures. Afterward, three different control approaches to control the altitude, attitude, heading, and position of the quadrotor in space are developed. The first approach is based on the nonlinear Sliding Mode Controller (SMC) with Pole Placement method. The second control approach is based on the Full State Feedback Controller. The third developed controller is a nonlinear Sliding Mode Controller with Linear Matrix Inequality (LMI) method. Simulation based experiments were conducted to evaluate and compare the performance of the three developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. The simulation works were performed using MATLAB/SIMULINK software. Numerical simulations show the effectiveness of the developed quadrotor solutions. The results demonstrate that the proposed quadrotor control scheme is effective; not only it has good robustness, with almost no chattering and fast-tracking dynamic performance, but it also has the ability to maintain stability in the presence of external disturbances and parameter uncertainties.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Mahmud, Nor Laili
author_facet	Mahmud, Nor Laili
author_sort	Mahmud, Nor Laili
title	Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud
title_short	Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud
title_full	Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud
title_fullStr	Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud
title_full_unstemmed	Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud
title_sort	sliding mode control design using linear matrix inequality for unmanned aerial vehicle / nor laili mahmud
granting_institution	Universiti Teknologi MARA (UiTM)
granting_department	College of Engineering
publishDate	2022
url	https://ir.uitm.edu.my/id/eprint/75493/1/75493.pdf
_version_	1804889693737713664

Sliding mode control design using linear matrix inequality for unmanned aerial vehicle / Nor Laili Mahmud

Similar Items