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Development of Guidance and Control System of Environmental Pollution Aerial Inspection System Focusing on Industrial Chimneys
, M.Sc. Thesis Sharif University of Technology ; Banazadeh, Afshin (Supervisor)
Abstract
In this research, first the use of an aerial system for the inspection of industrial chimneys has been investigated. Then, a series of typical requirements are set for the mission of the flying vehicle, and then a suitable multi-rotor for inspection of industrial chimneys has been designed. After determining the aircraft, among the large number of controllers that have been implemented on the multi-rotors since 2008 , the ADRC controller is selected and based on it a control system for the aircraft has been designed. Finally, this controller is tested in 5 different scenarios to evaluate and show its performance and robustness