Loading...

Controller Design for a Water Thrusted Unmanned Aerial Platform

Termehbafzadeh, Mohammad Javad | 2024

93 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57028 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz
  7. Abstract:
  8. This thesis aims to design a controller for a water thrusted unmanned aerial platform with considering a suitable configuration. The overall configuration of this platform includes four thrusters that are responsible for producing roll, pitch, yaw torque and altitude changing. This system has approximately the same method of controlling as a quadrotor, with the difference that thrust is generated by water jets. A ground pump and a hose connected to it supplies and transfer the required water to the platform. The connected hose produces variable forces and moments during the height and attitude changes. Therefore, this system can be considered as a type of time-varying system. The main challenge is how to stabilize and guide the platform in the presence of disturbances and uncertainties that are introduced by the force and moment at the point where the hose connects to the platform. Since the system is underactuated, two-loop controller structure was considered for trajectory tracking. The inner loop controls attitude and altitude variables and the outer loop is to determine the desired values for the input variables of the inner loop based on to the deviation of the platform from the desired path. The external control loop was designed based on the principles of adaptive control and PD control. For the internal loop, the intelligent sliding mode and Barrier Lyapunov controllers are utilized based on robust control principles and neural networks. For the sake of validation and performance evaluation, many simulations have been carried out. Satisfactory results have been observed indicating the validity of dynamic modeling and acceptability of the designed controller
  9. Keywords:
  10. Controller Design ; Unmanned Aerial Vehicles (UAV) ; Water Thruster ; Adaptive Control ; Robust Control ; Neural Network ; Barrier Lyapunov Function

 Digital Object List

 Bookmark

No TOC