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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 53180 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Nejat, Hossein; Alasty, Aria
- Abstract:
- Quadcopters are a bunch of vertical takeoff and landing UAVs and generally consist of four symmetric arms, each possessing a rotor-blade at the end. Quadcopters are able to retain their state and position by performing static maneuverability. Conventional quadcopters have less actuators (four engines) than their DOF (six degrees of freedom in the space). Thus, it is impossible to control all DOF of the system independently. Nevertheless, one can make a solution to this problem by increasing the number of actuators, so that each rotor-blade can also rotate about the corresponding arm. Such a quadcopter is so called a “tilt-rotor quadcopter”. The aim of this work is to model a tilt-rotor quadcopter and simulate its dynamic characteristics besides designing linear and nonlinear controller for such a system. To this end, by employing the Lagrange equations, governing equations of motion of the system have been obtained, where, transient dynamics of the arms have been considered too. Next step is to design a controller based on the novel previous works. Hence, based on the sliding mode theory, nonlinear controllers have been designed for the sake of position-state stability. In addition, another controller has been designed for the aim of energy efficiency of the actuators. Eventually, performance of each controller has been compared to the other ones in position-state and orientation-state maneuvers
- Keywords:
- Optimal Control ; Sliding Mode Control ; Dynamic Simulation ; Attitude Stability ; Position Stability ; Rotor Stability ; Unmanned Aerial Vehicles (UAV) ; Tilt-Rotor Quadcopter ; Position and Attitude Control
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