Transition Flight Control of a Tilt Tri-Rotor UAV Using Robust Model Predictive Control

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Majidi Roochi, Somayeh | 2020

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 53540 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Nobahari, Hadi; Emami, Ali
Abstract:
The purpose of this thesis is to control altitude and attitude of a Tilt Tri-Rotor UAV in rotorcraft mode and control of altitude, attitude and forward velocity in transition mode (from rotorcraft mode to cruise) by using model predictive control. First, the detailed mathematical model is obtained by the Newton-Euler equations of motion, in both rotorcraft and transition modes. In the next step, a MIMO model predictive controller has been designed, considering input constraints. Then, since, robustness of the model-based control approach is an important challenge, the performance of the controller is presented in the presence of model uncertainties and wind disturbances. The results indicate that the designed controller is robust enough
Keywords:
Model Predictive Control ; Transition Flight ; Unmanned Aerial Vehicles (UAV) ; MPC-NPLT Control ; Tiltrotor Unmanned Aerial Vehicles (UAV) ; Flight Control ; Vertical Take-Off and Landing (VtOL)

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