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Design of an Incremental Nonlinear D...

Bhandari, Aabhash,

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Design of an Incremental Nonlinear Dynamic Inversion Based Control Law for a Quad-plane UAV /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Design of an Incremental Nonlinear Dynamic Inversion Based Control Law for a Quad-plane UAV // Aabhash Bhandari.
作者:	Bhandari, Aabhash,
面頁冊數:	1 electronic resource (91 pages)
附註:	Source: Masters Abstracts International, Volume: 85-12.
Contained By:	Masters Abstracts International85-12.
標題:	Aerospace engineering. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31141033
ISBN:	9798382812960

Design of an Incremental Nonlinear Dynamic Inversion Based Control Law for a Quad-plane UAV /
Bhandari, Aabhash,

Design of an Incremental Nonlinear Dynamic Inversion Based Control Law for a Quad-plane UAV /Aabhash Bhandari. - 1 electronic resource (91 pages)

Source: Masters Abstracts International, Volume: 85-12.

Incremental Nonlinear Dynamic Inversion (INDI) is an extension to the Nonlinear Dynamic Inversion (NDI), with increased robustness to model parametric uncertainties while still maintaining high performance characteristics. This thesis presents the INDI based cascaded control laws designed separately for vertical and forward flight regimes of a Vertical Take-Off and Landing (VTOL) quad-plane. A simple strategy of blending the vertical and forward control inputs using sigmoidal control weight allocation is proposed to achieve transition between the flight stages. The derivation of the control input terms for each INDI based control loop is presented. The control laws are implemented on a simulation model of a canard-wing quad-plane Unmanned Aerial Vehicle (UAV). A low-fidelity aerodynamic and propulsive model for the vehicle is built using OpenVSP and available motor/propeller performance data. The simple nominal model is used for robust control law design and simulations. Simulation results indicate good tracking of the reference trajectory commands during all stages of flight including transition. The designed control system's performance is assessed for different simulated scenarios including presence of model parametric uncertainties, wind turbulence, measurement noise, actuator faults and loss-of-control effectiveness during all stages of flight.

English

ISBN: 9798382812960Subjects--Topical Terms:

1002622
Aerospace engineering.
Subjects--Index Terms:

Nonlinear dynamic inversion

Design of an Incremental Nonlinear Dynamic Inversion Based Control Law for a Quad-plane UAV /
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245 1 0 $a Design of an Incremental Nonlinear Dynamic Inversion Based Control Law for a Quad-plane UAV / $c Aabhash Bhandari.
264 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2024
300 $a 1 electronic resource (91 pages)
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337 $a computer $b c $2 rdamedia
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500 $a Source: Masters Abstracts International, Volume: 85-12.
500 $a Advisors: Larson, Jordan D. Committee members: Zhao, Pan; Mulani, Sameer B.; Taylor, Drew.
502 $b M.S. $c The University of Alabama $d 2024.
520 $a Incremental Nonlinear Dynamic Inversion (INDI) is an extension to the Nonlinear Dynamic Inversion (NDI), with increased robustness to model parametric uncertainties while still maintaining high performance characteristics. This thesis presents the INDI based cascaded control laws designed separately for vertical and forward flight regimes of a Vertical Take-Off and Landing (VTOL) quad-plane. A simple strategy of blending the vertical and forward control inputs using sigmoidal control weight allocation is proposed to achieve transition between the flight stages. The derivation of the control input terms for each INDI based control loop is presented. The control laws are implemented on a simulation model of a canard-wing quad-plane Unmanned Aerial Vehicle (UAV). A low-fidelity aerodynamic and propulsive model for the vehicle is built using OpenVSP and available motor/propeller performance data. The simple nominal model is used for robust control law design and simulations. Simulation results indicate good tracking of the reference trajectory commands during all stages of flight including transition. The designed control system's performance is assessed for different simulated scenarios including presence of model parametric uncertainties, wind turbulence, measurement noise, actuator faults and loss-of-control effectiveness during all stages of flight.
546 $a English
590 $a School code: 0004
650 4 $a Aerospace engineering. $3 1002622
650 4 $a Design. $3 518875
650 4 $a Mechanics. $3 525881
653 $a Nonlinear dynamic inversion
653 $a Flight control systems
653 $a Aerodynamics
653 $a Flight stages
653 $a Propulsive model
690 $a 0538
690 $a 0389
690 $a 0346
710 2 $a The University of Alabama. $b Aerospace Engineering. $e degree granting institution. $3 3823887
720 1 $a Larson, Jordan D. $e degree supervisor.
773 0 $t Masters Abstracts International $g 85-12.
790 $a 0004
791 $a M.S.
792 $a 2024
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31141033