Modeling and control of a class of aerial robotic systems

The objectives of this thesis are to propose a new linear uncertain model with bounded uncertainties for an Unmanned Aerial Vehicle (UAV) helicopter system and to propose two new advanced nonlinear kernel controls for the UAV helicopter flight control system using the newly obtained linear uncertain...

Full description

Saved in:

Bibliographic Details
Main Author:	Tan, Eng Teck
Format:	Thesis
Language:	English
Published:	2012
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/35868/1/TanEngTeckPFKE2012.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-utm-ep.35868
record_format	uketd_dc
spelling	my-utm-ep.358682017-09-25T04:53:41Z Modeling and control of a class of aerial robotic systems 2012-11 Tan, Eng Teck TJ Mechanical engineering and machinery The objectives of this thesis are to propose a new linear uncertain model with bounded uncertainties for an Unmanned Aerial Vehicle (UAV) helicopter system and to propose two new advanced nonlinear kernel controls for the UAV helicopter flight control system using the newly obtained linear uncertain model. The two new control algorithms are based on the Model Following Variable Structure Control (MFVSC) and the deterministic control. They are able to cope with system parameters variations due to the different flight conditions. The first proposed controller is the deterministic control approach augmented MFVSC. The second proposed controller is the deterministic control approach augmented MFVSC with nonlinear state feedback control. Two theorems have been derived based on the two newly developed control algorithms. The two theorems are stable in terms of the second method of Lyapunov provided that the assumptions for the proposed theorems are satisfied. Extensive simulations with different flight conditions and various controller design parameters have been carried out in this study to evaluate the performance and the robustness of the two new control techniques. The simulation results show that the two proposed control algorithms are capable of rendering the system state to track the desired state motion. 2012-11 Thesis http://eprints.utm.my/id/eprint/35868/ http://eprints.utm.my/id/eprint/35868/1/TanEngTeckPFKE2012.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:70376?site_name=Restricted Repository phd doctoral Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Tan, Eng Teck Modeling and control of a class of aerial robotic systems
description	The objectives of this thesis are to propose a new linear uncertain model with bounded uncertainties for an Unmanned Aerial Vehicle (UAV) helicopter system and to propose two new advanced nonlinear kernel controls for the UAV helicopter flight control system using the newly obtained linear uncertain model. The two new control algorithms are based on the Model Following Variable Structure Control (MFVSC) and the deterministic control. They are able to cope with system parameters variations due to the different flight conditions. The first proposed controller is the deterministic control approach augmented MFVSC. The second proposed controller is the deterministic control approach augmented MFVSC with nonlinear state feedback control. Two theorems have been derived based on the two newly developed control algorithms. The two theorems are stable in terms of the second method of Lyapunov provided that the assumptions for the proposed theorems are satisfied. Extensive simulations with different flight conditions and various controller design parameters have been carried out in this study to evaluate the performance and the robustness of the two new control techniques. The simulation results show that the two proposed control algorithms are capable of rendering the system state to track the desired state motion.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Tan, Eng Teck
author_facet	Tan, Eng Teck
author_sort	Tan, Eng Teck
title	Modeling and control of a class of aerial robotic systems
title_short	Modeling and control of a class of aerial robotic systems
title_full	Modeling and control of a class of aerial robotic systems
title_fullStr	Modeling and control of a class of aerial robotic systems
title_full_unstemmed	Modeling and control of a class of aerial robotic systems
title_sort	modeling and control of a class of aerial robotic systems
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2012
url	http://eprints.utm.my/id/eprint/35868/1/TanEngTeckPFKE2012.pdf
_version_	1747816375414423552

Modeling and control of a class of aerial robotic systems

Similar Items