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Dynamic Analysis and Control of Transport Quadrotors in the Presence of Loads Generating Stochastic Forces

Baha, Mirshams | 2025

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 58461 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz
  7. Abstract:
  8. In this research, inspired by the flight control of birds of prey in grasping living creatures, a precise dynamic analysis and tracking control of transport quadrotors in capturing and transporting force-generating objects in the presence of intense parametric and non-parametric uncertainties are discussed. In the first step, the origin of the forces and moments produced by the oscillatory objects is described through presenting a precise model. In the next step, an extended hybrid model of a hunting quadrotor, cable-transport quadrotor and a creative one as net-throwing aerial vehicle (NTAV) in different flight phases (Pursuit, Capturing/Joining and Transporting) is extracted and the verification of the dynamic models is assessed through the structure of the equations of motion and numerical simulation. Afterward, sensitivity analysis of the flying vehicles with respect to the initial conditions and various physical and kinematic parameters and variables is performed and the validity of this analysis is evaluated through providing a quantitative measure of the effect of these parameters and variables on the dynamic behavior of the flying systems. In the following stage, considering the nonlinear nature of the equations of motion, the unknown dynamics of the oscillatory objects and the upper limits of the forces and moments exerted by them, as well as other existing uncertainties, an adaptive robust nonlinear control system based on sliding mode algorithms such as generalized sliding mode control (GSMC), standard super-twisting sliding mode control (STSMC) and generalized super-twisting sliding mode control (GSTSMC), is developed for each aerial robot, so that it can fulfill the stabilization and precise trajectory tracking via the simultaneous and online estimation of the gains corresponding to the upper bounds of lumped disturbances and uncertainties together with the inertia parameter of the force-generating object. In this regard, the stability of the control system is proved based on Lyapunov theory. In this study, the performance of the designed controllers is evaluated and compared through simulation in Simulink environment of MATLAB based on several standard criteria. Furthermore, a comprehensive robustness analysis of the control algorithms over a wide range of flight speeds, measurement noise and uncertainties, through numerical and Monte Carlo simulations, is another aspect of this study. Finally, the key findings and conclusions of the present research are summarized
  9. Keywords:
  10. Dynamic Analysis ; Parameter Estimation ; Adaptive Robust Nonlinear Control System ; Cable-Transport Quadrotor ; Hunting Quadrotor ; Adaptive Gain Tuning Law ; Force-Generating Object ; Net-Throwing Aerial Vehicle

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