Design of an adaptive controller for input uncertainties on a hexacopter UAV

Majstorović, Domagoj (2014) Design of an adaptive controller for input uncertainties on a hexacopter UAV. = Design of an adaptive controller for input uncertainties on a hexacopter UAV. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Kasać, Josip.

[img] Text
Domagoj_Majstorovic_Diplomski_Rad.pdf - Published Version
Restricted to IP adress Jezik dokumenta:English

Download (18MB)

Abstract (Croatian)

In the project "Valles Marineris Explorer" the canyon system Valles Marineris shall be explored by a swarm made up of unmanned ground and aerial vehicles (UGV/UAV). Long term operated UAVs experience a certain amount of degradation, starting from propeller deterioration up to a complete motor failure. The reduction of control effectiveness and a complete loss of motors pose challenging problems for the controller design. However, results on a terrestrial vehicle cannot be easily transferred to the Martian environment. The goal of this thesis is to develop an adaptive controller augmenting the existing NDI baseline controller in order to handle input uncertainties such as motor degradation. The controller design shall be validated in simulation. Moreover, the environment conversion problem shall be discussed in order to find guidelines which allow a transfer of results from Terrestrial to the Martian environment. Finally, a flight test shall be conducted. Since the latter is dependent on the availability of the terrestrial vehicle, it is seen as optional.

Abstract

In the project "Valles Marineris Explorer" the canyon system Valles Marineris shall be explored by a swarm made up of unmanned ground and aerial vehicles (UGV/UAV). Long term operated UAVs experience a certain amount of degradation, starting from propeller deterioration up to a complete motor failure. The reduction of control effectiveness and a complete loss of motors pose challenging problems for the controller design. However, results on a terrestrial vehicle cannot be easily transferred to the Martian environment. The goal of this thesis is to develop an adaptive controller augmenting the existing NDI baseline controller in order to handle input uncertainties such as motor degradation. The controller design shall be validated in simulation. Moreover, the environment conversion problem shall be discussed in order to find guidelines which allow a transfer of results from Terrestrial to the Martian environment. Finally, a flight test shall be conducted. Since the latter is dependent on the availability of the terrestrial vehicle, it is seen as optional.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: Feedback linearization, Fault-tolerant Control, Model Reference Adaptive Control, UAV, Actuator failures, Input uncertainties
Keywords (Croatian): Feedback linearization, Fault-tolerant Control, Model Reference Adaptive Control, UAV, Actuator failures, Input uncertainties
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 27 Nov 2014 11:32
Last Modified: 21 Apr 2020 11:01
URI: http://repozitorij.fsb.hr/id/eprint/3008

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year