Sharif Digital Repository

In this thesis, the theory of robust control is applied to design a controller for hover flight of a tail-sitter unmanned aerial vehicle with 2 ducted-fan propulsion. The control surface deflection (in propeller slipstream) is considered as the input controller of the system. The aircraft dynamical model is developed based on the assumption of no aerodynamic loads on other parts of uav in low speed flight associated with the hovering condition. The controller is primarily designed using both classical and modern control techniques. Then H ∞ and µ synthesis approaches are applied to design the robust controller. The results obtained from different approaches are compared. It is shown that... 

One of the most important technologies in space missions is capability of moving satellites together with a predefined structure (virtual structure). This structure can reconfigure itself to any desired space mission and it is known as reconfiguration maneuver, in this maneuver all of the satellites have to follow needed virtual structure from any initial configuration to any desired second composition. In available virtual structure methods, there are a lot of limitations in maneuver because of algorithm constraints, in this project we try to extend available algorithm in virtual structure method and reach an algorithm which can start from any initial condition and complete the maneuver in... 

In this thesis, the theory of robust control is applied to design a controller for the longitudinal dynamics of a tail-sitter jet engine unmanned aerial vehicle. The engine thrust deflection is considered as the input controller of the system. The aircraft dynamical model is developed based on the assumption of no aerodynamic loads in low speed flight associated with the hovering condition. The controller is primarily designed using both classical and modern control techniques. Then and synthesis approaches are applied to design the robust controller. The results obtained from different approaches are compared. It is shown that the robust controller techniques are more stable and robust... 

The goal of this project is the development of a control algorithm for a flock of non-holonomic aerial agents. For this purpose,the swarm architecture having some unique features such as robustness, flexibility, and scalability is utilized. Swarm is defined as a group of simple agents having local interactions between themselves and the environmentwhich shows an unpredictable emergent behavior.Behavior based control which is inspired from the animal behaviors is employed to control the swarm of mobile agents. Accordingly, the necessary behaviors which are distance adjustment, velocity agreement, and virtual leader tracking together with a fuzzy coordinator are designed. In this study, in... 

This thesis represents the obstacle avoidance of a fixed-wing small aircraft using optical flow information of cameras mounted on the aircraft. The thesis consists of two main sections. In section one, the ideal optical flow has been simulated based on the camera model, complete six DOF of flight equations, and the geometry of the environment. An analytical formula has been derived to relate the obstacle detection distance to the maneuverability of the aircraft. Having the obstacle detection distance, the control and navigation algorithms have been developed to achieve a collision-free flight for the aircraft in urban canyons and junctions. The effect of some parameters such as approach... 

One of the key technologies in the future space missions is the formation flight of small satellites. Currently, widespread research in this field is being carried out and remarkable developments have been achieved. In the mentioned laboratory researches, satellite navigation is performed by conventional sensors like infrared and ultrasonic. Both of these sensors are of active type and energy consuming. Also, use of the ultrasonic sensors is impractical in space missions (due to vacuum condition). Therefore, as an alternative for space missions, visual sensors are good candidates. The main goal of this research is to present a method for the relative navigation in proximity operations in an... 

Recent developments in space industry and the great tendency for definition of efficient, precise and low cost missions are the main reasons for the growing interest in satellites formation flight. Regarding the aforementioned, the study of the multiple satellite control methods is the subject of the present project. In this project, the governing equations of motion of satellite formation flight are developed. Based on this development, it is shown that the satellite linear equations of motion like many other linear system presentations, can not sufficiently model the real system. Therefore, some of the most famous uncertainties in space dynamics such as semimajor axis and eccentricity... 

In this thesis, maneuverability enhancement of a given twin engine fighter aircraft with integrated thrust-vector and conventional aerodynamic control surfaces havebeen studied. For this purpose a nonlinear 6DOF simulation program base on a near exact mathematical model has been prepared for the aircraft, and then a thrust vectoring system for producing moments about three body axes, like that used in F/A-18, has been added to the simulation. The control method that is employed to control the aircraft in simulation environment is based on Nonlinear Dynamic Inversion (NDI). Finally the Velocity Vector Roll (VVR) maneuver has been considered as an example tostudymaneuverability enhacement. It... 

Modeling and simulation are widely used as essential tools to predict and analyze complex systems in various scientific and engineering fields. For an aerospace system such as aircraft, mathematical models are useful used to carry out such tasks as dynamic analysis, autopilot development and combination of flight control laws, hazardous behaviors prediction, the controller design and validation, the study of the handling qualities, or the implementing simulators used for training pilots and many other tasks. In general, the aircraft flight dynamics is a nonlinear and coupled system whose dynamic modeling, in addition to pilot control inputs, depends on flight conditions (i.e., Mach and... 

In this project an algorithm is designed for automatic landing of unmanned helicopter on a pad moving with six degrees of freedom. The designed controller is based on state dependent riccati equations (SDRE).by developing nonlinear mathematical model of helicopter and then converting this model to state dependent coefficient (SDC) form. A nonlinear compensator is added to controller to compensate effect of some nonlinear terms of model that are not able to translate and then state dependent riccati equations are solved.
The relative pose-estimation of landing pad is based on vision. Corner detection algorithm is used to identify and detect features by processing of image taken from... 

Pavement preventive maintenance methods such as slurry seals are cost-effective treatments that enhance pavement longevity. Incorporation of recycled materials such as reclaimed asphalt pavement (RAP) into asphalt pavements helps further reduce costs and energy consumption. Because the use of emulsions and pavement preventive methods is uncommon in Iran, there is little experience with the technology in this area. The present study designed and developed slurry seal and emulsion test devices at Sharif University lab to study the feasibility of incorporation of RAP into slurry seal mixtures while respecting the limits specified by the ISSA and ASTM. Two slurry seal mixtures in which cement... 

In this research work, several guidance laws have been utilized and validated, considering the contraints on the missslie seeker angle and maximum acceleration, in order to simultaneously intercept the so-called Close-in Weapon System (CIWS) by multiple missiles. First of all, the existing guidance laws for salvo-attack are reveiwed. Then, a simulation program has been developed and validated for the misslie and CIWS as a five and two degrees of freedom systems, respectively. Optimization of the system is then carried out by the method of Particle Swarm Optimization, considering the given constraints. In the next step, for the improvement of the optimized guidance law, paramertic study has... 

In this study, the possibility of detecting known and unknown anomalies in a micro jet engine is evaluated. the proposed method is neural network and clustering analysis. The process consists of two main parts, first part is experimental abnormal behavior simulation and second part is validation of proposed detection method. In the first part a micro jet engine (Olympuse HP) were used and we created pre-designed errors in engine normal behavior to record significant changes in its performance. Recorded outputs consist of six different variables: RPM, Exhaust gas temperature, Throttle command, Fuel pump voltage, Thrust and Fuel weight. In the second part, for analyzing data, we used... 

Quadrotors are one of the most popular unmanned aerial vehicle (UAVs) that has been subject of extensive research in recent years. One of the most important applications of these aerial vehicles is transporting a cable-suspended payload from one point to another. The major challenge in modeling of this system is dynamic coupling which exist between all components of the system i.e. payload, cable and quadrotor. The purpose of this research is mathematical modeling and dynamic analysis of the system in presence of this dynamic coupling and considering the effects of cable's flexibility. In this regard, it is assumed that the payload has variable mass. In this thesis, in the first step, by... 

Using unmanned aerial vehicles in aerial payload carrying leads many changes requiring significant study and research. In recent years, there has been considerable maturation in Micro Aerial Vehicles (MAV) developement especially quadcopters. In addition to the endurance restriction, considerations on volume and weight that can be carried, and safety issues are also obstacles to the development of unmanned aerial payload carrying in urban environments. One of the ways to make a quadcopter more agile while carrying a load is to hang the cargo from the quadcopter via a cable. In this way, it is possible that quadcopters carry the cargo in a cooperative way, which if properly arranged,...