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Cooperative Control of a Quadrotor and a Mobile Robot

Manzouri, Alireza | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49486 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vosoughi, Gholamreza
  7. Abstract:
  8. In this project, the final goal is to create a team consisting of a UGV and a quadrotor capable of relative tracking and coordinated landing, with focus on quadrotor control. What we mean by cooperative control in this project is control of quadrotor for the purpose of cooperation with a UGV; This should not be mistaken with another sense of cooperative control in which the control algorithms are developed for both of the robots or are based on the interactive dynamics of the robots.In order to accomplish this goal, an experimental testbed consisting of a quadrotor and a UGV capable of communication and data exchange was developed as a first step. The quadrotor was constructed using commercially available components, but a ready-made UGV was used. After modelling the quadrotor, model parameters were identified, and a linear identifier based on single-axis rotation tests was proposed. A sliding mode plus PD control scheme was proposed for controlling the quadrotor to track the mobile robot. Taking the coordinated landing problem in mind, the controller was improved with an adaptation law to compensate the ground effect phenomenon. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes.Due to the unforeseen practical difficulties in implementing the proposed control schemes on the testbed, an alternative method was used for experimental implementation. In this method, the attitude control loop of the onboard flight controller was employed and a backstepping position control scheme was developed based on the closed-loop dynamics of the quadrotor and the onboard attitude controller. Microsoft Kinect was chosen as the position sensing device for landing. Finally, the proposed backstepping controller was tested on the experimental testbed for coordinated landing
  9. Keywords:
  10. Automatic Landing ; Mobile Robot ; Cooperative Robot ; Flying Robot ; Cooperative Control ; Quadrotor Robot Control ; Unmanned Aerial Vehicles (UAV) ; Cooperative Mobile Robotics ; Relative Tracking ; Coordinated Landing

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