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Towards Robust-Safe Control of Multi...

Modasiya, Agam,

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Towards Robust-Safe Control of Multi-Rotor UAVs /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Towards Robust-Safe Control of Multi-Rotor UAVs // Agam Modasiya.
Author:	Modasiya, Agam,
Description:	1 electronic resource (71 pages)
Notes:	Source: Masters Abstracts International, Volume: 85-11.
Contained By:	Masters Abstracts International85-11.
Subject:	Mechanical engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31142217
ISBN:	9798382759364

Towards Robust-Safe Control of Multi-Rotor UAVs /
Modasiya, Agam,

Towards Robust-Safe Control of Multi-Rotor UAVs /Agam Modasiya. - 1 electronic resource (71 pages)

Source: Masters Abstracts International, Volume: 85-11.

Unmanned Aerial Vehicles (UAVs) are heavily used in domains ranging from military applications to commercial and civilian use. With their increase in integration into numerous sectors, robust and safe controls of UAVs become critical. This dissertation presents a control algorithm to estimate the non-linear dynamics of a system for robust control of different multi-copters in uncertain conditions using model-free control (MFC). In addition, to maintain the flight envelope and perform safe maneuvers, a reference governor is used. By testing MFC (iPID) in simulations and real-life tests on a classical quad-copter and Vertical Takeoff and Landing (VTOL) drone, we show iPID reduces the position tracking error in high wind situations while stabilizing the drone close to the given set-point and eliminates oscillation when compared to classical PID. For safe controls, a reference governor is used as a constraining controller. Reference Governor is applied to ensure safe maneuvers by limiting the tilt angles of the drone by modifying the position set-point to the controller. The reference governor was shown to have effectively constrained the tilt angles within given limits.

English

ISBN: 9798382759364Subjects--Topical Terms:

649730
Mechanical engineering.
Subjects--Index Terms:

Model-free control

Towards Robust-Safe Control of Multi-Rotor UAVs /
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245 1 0 $a Towards Robust-Safe Control of Multi-Rotor UAVs / $c Agam Modasiya.
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300 $a 1 electronic resource (71 pages)
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500 $a Source: Masters Abstracts International, Volume: 85-11.
500 $a Advisors: Burlion, Laurent Committee members: Diez Garias, Francisco; Bai, Xiaoli.
502 $b M.S. $c Rutgers The State University of New Jersey, School of Graduate Studies $d 2024.
520 $a Unmanned Aerial Vehicles (UAVs) are heavily used in domains ranging from military applications to commercial and civilian use. With their increase in integration into numerous sectors, robust and safe controls of UAVs become critical. This dissertation presents a control algorithm to estimate the non-linear dynamics of a system for robust control of different multi-copters in uncertain conditions using model-free control (MFC). In addition, to maintain the flight envelope and perform safe maneuvers, a reference governor is used. By testing MFC (iPID) in simulations and real-life tests on a classical quad-copter and Vertical Takeoff and Landing (VTOL) drone, we show iPID reduces the position tracking error in high wind situations while stabilizing the drone close to the given set-point and eliminates oscillation when compared to classical PID. For safe controls, a reference governor is used as a constraining controller. Reference Governor is applied to ensure safe maneuvers by limiting the tilt angles of the drone by modifying the position set-point to the controller. The reference governor was shown to have effectively constrained the tilt angles within given limits.
546 $a English
590 $a School code: 0190
650 4 $a Mechanical engineering. $3 649730
650 4 $a Canadian history. $3 3174996
650 4 $a Aerospace engineering. $3 1002622
653 $a Model-free control
653 $a Reference governor
653 $a Unmanned Aerial Vehicles
653 $a Control algorithm
690 $a 0548
690 $a 0334
690 $a 0538
710 2 $a Rutgers The State University of New Jersey, School of Graduate Studies. $b Mechanical and Aerospace Engineering. $e degree granting institution. $3 3816457
720 1 $a Burlion, Laurent $e degree supervisor.
773 0 $t Masters Abstracts International $g 85-11.
790 $a 0190
791 $a M.S.
792 $a 2024
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31142217