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Design, Manufacturing and Control of a Coaxial VTOL33 Micro UAV34, Based on Center of mass Steering

Sarabadani Tafreshi, Ali | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44490 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Bagheri Shouraki, Saeed; Sayyadi, Hassan
  7. Abstract:
  8. In recent years, the area of research on micro flying robots has been developed, because of the development in micro manufacturing technologies. These flying robots can be used in military and Civilian missions such as identifying, espionage, aerial relays, traffic surveillance rescue, help and…because of their advantages. Ability to fly in finite areas, no human injuries, low manufacturing and power cost, easy and fast Application, Easy Maintenance and … are some advantages of these robots. We can control these robots manually by RC remote controllers or by Auto guidance system. On the other hand, these robots are used in research laboratories for testing new control algorithms such as multi agent systems. In this research we use COG29 Displacement idea in lateral maneuvering in MFR30 and analyzing the results. Therefore we start with conceptual design of a coaxial VTOL31 MFR, then we continue the work by Detail Design and manufacturing a pilot model of robot, finally we develop the dynamic model of robot in MATLAB and test the classical and Robust control algorithms on model for preliminary maneuvering missions, to analysis and choosing the best algorithm for robot control
  9. Keywords:
  10. Dynamic Modeling ; Center of Gravity (COG)Displacement ; Unmanned Aerial Vehicles (UAV) ; Reinforcement Controller ; Vertical Take-Off and Landing (VtOL)

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