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Adaptive Model Predictive Control Applied to Online Automatic Landing of Fixed Wing UAV

Harami, Mohammad | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 50964 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi
  7. Abstract:
  8. The problem that we will solve in this thesis is the automatic landing using model predictive control. Due to the large growth in the use of fixed wing UAVs and the challenges faced by these type of UAVs with respect to other types of UAVs, in this project, the automatic landing of a UAV will be studied in the presence of variable uncertainties with time that will be considered in the modeling. The airplan is assumed to have inertial sensors, gps, speedometer and altimeter. The innovation of the thesis is that until now, Adaptive Model Predictive Control has not been used to control the fixed wing UAV landing. One of the weaknesses in Model Predictive Control is the loss of performance in the face of uncertainty in modeling that this weakness is solved by adapting the model online. For this purpose, the estimation and compensation of the uncertainty of the control derivatives (which have the greatest effect on the control of the device) have been used. The results of the control method of Adaptive Model Predictive Control in the presence of uncertainty factors are compared with the results of the Model Predictive Control and it is shown that the estimation and compensation of the control derivatives significantly improve the performance of the control loops
  9. Keywords:
  10. Automatic Landing ; Model Predictive Control ; Unmanned Aerial Vehicles (UAV) ; Fixed Wing Unmanned Aerial Vehicles (UAV)

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