Iterative Learning Control to Enhance Accuracy of Repetitive Maneuvers for Aerial Robots

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Saadatmanesh, Hossein | 2021

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 54354 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Banazadeh, Afshin
Abstract:
In this study, in order to enhance the accuracy of tracking repetitive maneuvers in Unmanned Aerial Vehicles (UAVs), an educable control scheme is proposed. At the outset, the controller is designed based on the sliding mode control (SMC) technique. In addition, the offline PD-type memory-based iterative learning control (ILC) is used along with SMC. In ILC scheme, the error of states is saved during the maneuvers that will be used in the subsequent iteration. Also, in order to increase flexibility of the new control structure, ILC-SMC, a multilayer perceptron has been developed. This network is designed to extend the control signal, generated by ILC, to similar maneuvers. The presented control scheme is applied to a quadrotor aerial vehicle for tracking desired trajectories and it is shown that the vehicle is able to follow the desired trajectory better than the conventional SMC in the presence of uncertainty
Keywords:
Iterative Learning Control ; Quadrotor ; Uncertainty ; Sliding Mode Control ; Multi-Layer Perceptron (MLP) ; Unmanned Aerial Vehicles (UAV) ; Aerial Robotics

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