NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV)

Quad-rotor typed unmanned aerial vehicles (UAV) are rotorcraft that has four propellers. In this design there are two arms and each arm has two propellers at their end.. It has complex controlling structure, that is why this rotorcraft is overall non-linear in nature. Hence, it creates a lot of dif...

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Main Author:	Muhammad Hassan, Tanveer
Format:	Thesis
Language:	English
Subjects:	Quad-rotor Unmanned aerial vehicles (UAV) Rotorcraft Quadrotor UAV Control system
Online Access:	http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/44117/1/p.1-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/44117/2/full%20text.pdf
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id	my-unimap-44117
record_format	uketd_dc
spelling	my-unimap-441172016-11-22T06:38:39Z NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV) Muhammad Hassan, Tanveer Quad-rotor typed unmanned aerial vehicles (UAV) are rotorcraft that has four propellers. In this design there are two arms and each arm has two propellers at their end.. It has complex controlling structure, that is why this rotorcraft is overall non-linear in nature. Hence, it creates a lot of difficulties during flying and become very difficult to make it fly stabilize under different sort of uncertainties. Therefore, stabilization of non-linear UAV system under various uncertainties like wind burst, system and sensor noise conditions has been a challenging research domain among the researchers and many of research work has been done in this domain, but still there is a lot of room available in this area. The objective of this research is to develop a stable control algorithm for Quad-rotor attitude and altitude stabilization. To solve its stability problem, the important role is done by making a control algorithm which satisfies its control system requirements. In this thesis, the Newton-Euler formalism was used to model the dynamic of Quad-rotor system and then a robust with more accurate control for stabilization of non-linear UAV system is intended. The proposed control technique is divided into two sub-systems. In order to validate the disturbance rejection operation, a robust Proportional, Integral and Derivative (PID) controller is derived in first phase of proposed system. Then for the removal of unwanted sensor and system noises, Non-Linear Model Predictive Control (NMPC) control algorithm is used which works on the technique of minimizing the cost criterion function. It is shown that proposed NMPC-PID based control technique results in a more robust stable control system and to verify the effectiveness of proposed technique on UAV system, it is simulated on MATLAB-Simulink environment which confirms and verify improvements in quality and effectiveness of the proposed method. Universiti Malaysia Perlis (UniMAP) 2013 Thesis en http://dspace.unimap.edu.my:80/xmlui/handle/123456789/44117 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/44117/1/p.1-24.pdf 07a3b8909c2e794ff95adfc4d61c1dfb http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/44117/2/full%20text.pdf 8bcfd6000431ebe0d9e75412906dc91a http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/44117/3/license.txt 8a4605be74aa9ea9d79846c1fba20a33 Quad-rotor Unmanned aerial vehicles (UAV) Rotorcraft Quadrotor UAV Control system School of Mechatronic Engineering
institution	Universiti Malaysia Perlis
collection	UniMAP Institutional Repository
language	English
topic	Quad-rotor Unmanned aerial vehicles (UAV) Rotorcraft Quadrotor UAV Control system
spellingShingle	Quad-rotor Unmanned aerial vehicles (UAV) Rotorcraft Quadrotor UAV Control system Muhammad Hassan, Tanveer NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV)
description	Quad-rotor typed unmanned aerial vehicles (UAV) are rotorcraft that has four propellers. In this design there are two arms and each arm has two propellers at their end.. It has complex controlling structure, that is why this rotorcraft is overall non-linear in nature. Hence, it creates a lot of difficulties during flying and become very difficult to make it fly stabilize under different sort of uncertainties. Therefore, stabilization of non-linear UAV system under various uncertainties like wind burst, system and sensor noise conditions has been a challenging research domain among the researchers and many of research work has been done in this domain, but still there is a lot of room available in this area. The objective of this research is to develop a stable control algorithm for Quad-rotor attitude and altitude stabilization. To solve its stability problem, the important role is done by making a control algorithm which satisfies its control system requirements. In this thesis, the Newton-Euler formalism was used to model the dynamic of Quad-rotor system and then a robust with more accurate control for stabilization of non-linear UAV system is intended. The proposed control technique is divided into two sub-systems. In order to validate the disturbance rejection operation, a robust Proportional, Integral and Derivative (PID) controller is derived in first phase of proposed system. Then for the removal of unwanted sensor and system noises, Non-Linear Model Predictive Control (NMPC) control algorithm is used which works on the technique of minimizing the cost criterion function. It is shown that proposed NMPC-PID based control technique results in a more robust stable control system and to verify the effectiveness of proposed technique on UAV system, it is simulated on MATLAB-Simulink environment which confirms and verify improvements in quality and effectiveness of the proposed method.
format	Thesis
author	Muhammad Hassan, Tanveer
author_facet	Muhammad Hassan, Tanveer
author_sort	Muhammad Hassan, Tanveer
title	NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV)
title_short	NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV)
title_full	NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV)
title_fullStr	NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV)
title_full_unstemmed	NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV)
title_sort	nmpc-pid based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (uav)
granting_institution	Universiti Malaysia Perlis (UniMAP)
granting_department	School of Mechatronic Engineering
url	http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/44117/1/p.1-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/44117/2/full%20text.pdf
_version_	1747836823214751744

NMPC-PID based new control structure design for altitude and attitude stabilization of non-linear quad-rotor type unmanned aerial vehicles (UAV)

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