Investigation of Possible Ways to Improve a Quad-rotor Controllability and Agility by Increasing Control Parameters

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Mardani, Reza | 2012

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 42906 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Malaek, Mohammad Bagher
Abstract:
In the class of unmanned air vehicles (UAV), there is a class entitled as Quad-rotor that engineers pay much attention due to specific features to them. Main applications of this class are because of vertical take-off and landing capability and high controllability. This class has high controllability in environments with high barriers because of the inherent imbalance. All of the Quad-rotors have already studied, had a fixed structure. So the designer's main focus was on improving the guidance and control systems and almost all forms of linear and nonlinear control methods and fuzzy, adaptive and robust control have been investigated. In this study variable structure is examined instead of the improving of control system of Quad-rotor and difference of the capabilities of fixed and variable structure is discussed. Since the new approach of researchers is using of nonlinear control methods, back-stepping nonlinear control method is used in this study. We have demonstrated the ability to change the structure of Quad-rotor can increase its controllability and agility and can perform a maneuver with simpler control logic and more reaction rate
Keywords:
Nonlinear Control ; Back-Stepping Method ; Unmanned Aircrafts ; Variable Structure ; Quadrotor

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