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Hybrid Control of an Unmanned Helicopter System Maneuver

Razavi, Hamid Reza | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46003 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Salarieh, Hassan
  7. Abstract:
  8. As a subset of hybrid systems, piecewise affine (PWA) systems are capable of approximating the behavior of a wide range of nonlinear systems. Considering the preliminaries regarding these systems and the vast literature gathered around them, the main contributions of the current study are presented in two separate sections. In the first section a class of uncertain piecewise affine systems subject to additive noise are studied. The problem of minimizing the bound on the variance of the steady response of these systems, by means of a piecewise affine observer-controller, is formulated as an optimization problem subject to a number of constraints in the form of matrix inequalities. Then the PWA approximation of a 1 DOF helicopter with nonlinear dynamics is presented. The difference between the actual nonlinear dynamics and the PWA approximation is modeled as uncertainties in the latter. Utilizing the introduced methods, a PWA observer-controller is designed and implemented on the nonlinear system. Simulation results demonstrate the effectiveness of the proposed observer-controller in minimizing the effects of the external disturbances. The second section of this study is concerned with designing a multi-layered control law for a 6 DOF unmanned helicopter. The aforementioned control law, which is comprised of an inner loop controller, an outer loop controller and a path generation algorithm, is designed by separating the altitude and planar motion dynamics of the helicopter. The inner loop controller, comprised of a hybrid control law, stabilizes the helicopter dynamics and is tasked with performing forward velocity and attitude alteration maneuvers. The outer loop control law and path generation algorithm are tasked with guiding the helicopter along its reference path. Simulation results, for multiple maneuvers, demonstrate the effectiveness of the proposed controller in guiding the helicopter along its desired trajectory
  9. Keywords:
  10. Robust Stability ; Linear Matrix Inequality (LMI) ; Unmanned Helicopter ; Piecewise Affine System ; Piecewise Affine Observer-Controller ; Multilayered Control Law

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