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Attitude Control of a Tail-sitter UAV with a Ducted Fan in Transition Phase Using the Robust Control Approach
, M.Sc. Thesis Sharif University of Technology ; Nobahari, Hadi (Supervisor) ; Mohammadzaman, Iman (Supervisor)
Abstract
The purpose of this thesis is to control the attitude of a tail-sitter UAV in transition phase (from hover to cruise and vice versa). This UAV has a pusher shrouded fan propulsive. Due to the fact that in transition phase the dynamic model of the UAV is associated with a significant uncertainties and the stability is more important than the performance, robust controller has been used. The propulsion part of the tail-sitter UAV can be assumed as a separate ducted fan UAV. In the first step both UAVs have been designed. then, in order to have an accurate model of UAV, the dynamics of actuators, including the engine and servo motor, has been identified. Then, modeling and verification for both...
Analysis of k-Neigh topology control protocol for mobile wireless networks
, Article Computer Networks ; Volume 53, Issue 5 , 2009 , Pages 613-633 ; 13891286 (ISSN) ; Sarbazi Azad, H ; Sharif University of Technology
2009
Abstract
k-Neigh is a basic neighbor-based topology control protocol based on the construction of k-neighbor graph as logical communication graph. Several topological aspects of the constructed topology which are crucial to the performance of the protocol are not yet analytically investigated. Moreover, the problem of determining the maximum "Hello" interval preserving the connectivity with high probability has not been extensively addressed yet. Since execution of the protocol is a resource consuming task, this problem is of great importance on the performance of the protocol in sense of power consumption and topology control overhead. In this paper, first, several topological properties of the...