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Optimal Control Approach to Formtaion Flight of Quadrotors

Ghorbani, Mohammad Reza | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49882 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Pourtakdoost, Hossein
  7. Abstract:
  8. The problem of quadrotors formation flying via optimal approach is investigated using the idea of cooperative and multi-level control. In this respect, a low level optimal control formulation of quadrotors is formulated for stability and tracking where the required tracking commands are generated via the high level controller over a simpler translational dynamics of quads. The idea of multi-level controllers enables one to develop formation keeping controls for complex dynamics systems, where varying agents in terms of dynamics and platform could be utilized. Due to inherent difficulties in implementing acceleration commands emanated out of the high level controller, an inverse dynamic routine is added to the high level controller block, while considering the lag effects. In addition, the effect of measurement noise is investigated and a classic filter is designed to reduce the noise effects for optimized quads performance in formation flight. The robustness of the team against time-varying communication topologies also shown. Finally, stability and convergence speed of various formation topologies are investigated using graph theory and different formation configurations have been introduced and evaluated.
  9. Keywords:
  10. Graph Theory ; Cooperative Control ; Optimal Control ; Multiagent System ; Two Level Control ; Formation Flight ; Quadrotor Aircraft

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