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Real-time Design and Implementation of Automatic Landing Algorithm of a Quadrotor under the Ground Effect

Sharifi, Ali Reza | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44577 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi
  7. Abstract:
  8. In this thesis an algorithm has been implemented for automatic landing of a quadrotor under the ground effect. In this regard the six degrees of freedom equations of motion using the Newton-Euler method has been designed. Then, the ground effect has been modeled by inspiring from the similar available models in the literature. The proposed models and proportional-integral-derivative attitude control loops have been simulated in MATLAB/Simulink environment. Also, two control strategies, a classical proportional-integral-derivative controller and a sliding mode controller have been utilized for height control loop.Since sliding mode controller requires all state variables to generate control signals, it is necessary to estimate state variables. Therefore a new heuristic filter, called Continuous Ant Colony Filter, has been proposed for non-linear systems state estimation. The new filter formulates the states estimation problem as a stochastic dynamic optimization problem and utilizes a colony of ants to find and track the best estimation. The ants search the state space dynamically in a similar scheme to the optimization algorithm, known as Continuous Ant Colony System. Moreover, the modeling error of ground effect has been estimated and compensated during landing phase. At the end, the performance of automatic landing algorithm has been studied at the presence of ground effect. Simulation results show that the proposed algorithm effectively improves the controller performance with ground effect compensation and quadrotor lands accurately. Also, relatively small errors in estimated height and its rate of change, obtained from the simulation proves the good performance of Continuous Ant Colony Filter for states estimation of quadrotor
  9. Keywords:
  10. Quadrotor ; Ground Effect ; Automatic Landing ; Heuristic Filter ; Continuous Ant Colony System ; Ant Colony Optimization (ACO) ; State Estimation ; Swarm Filters

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