• Login
    View Item 
    •   DSpace Home
    • AUS Theses & Dissertations
    • Masters Theses
    • View Item
    •   DSpace Home
    • AUS Theses & Dissertations
    • Masters Theses
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Establishing Autonomous AUS-Quadrotor

    Thumbnail
    View/ Open
    Final Thesis.pdf (7.348Mb)
    Thesis cover.pdf (102.5Kb)
    35.232-2009.04 Younes Al Younes_COMPRESSED.pdf (2.500Mb)
    Date
    2009-10
    Author
    Al Younes, Younes
    Advisor(s)
    Al Jarrah, Mohammad Amin
    Type
    Thesis
    Metadata
    Show full item record
    Description
    A Master of Science Thesis in Mechatronics Submitted by Younes Al Younes Entitled, "Establishing Autonomous AUS-Quadrotor," October 2009. Available are both Soft and Hard Copies of the Thesis.
    Abstract
    Vertical takeoff and landing Unmanned Aerial Vehicles (VTOL-UAVs) are superior to their counterparts fixed wing UAVs for urban applications. The objective of this thesis is to establish a VTOL UAV platform to complement the ongoing research activities in the area of Autonomous cooperative multi-agent system at AUS. The chosen platform for this research is a commercial remotely controlled quadrotor. First, the mathematical model will be developed and flight simulator will be designed using Matlab/Simulink environment. The simulator will be used to develop attitude stabilization flight control laws taking into account simulated noisy inertial measurements. Then hover autopilots will be designed using classical PID and LQR controllers. These autopilots will be used to simulate basic trajectory tracking flights. These autopilots and subsequent trajectory generation and tracking will be used as a benchmark for developing nonlinear autopilots. The proposed nonlinear autopilots will be based on Adaptive Integral Backstepping Controller (AIBC) for controlling the quadrotor. The recursive Lyapunov methodology in the backstepping technique will ensure the system stability, the integral action will increase the system robustness against disturbances and model uncertainties, and the adaptation law will estimate the modeling errors caused by assumptions in simplifying the complexity of the quadrotor model. In addition, a Lyapunov-based Velocity Controller (LVC) is introduced to work side by side with the AIBC for hover and like-hover control. Fuzzy logic methodology will be investigated with the objective of boosting the performance of the AIBC by scheduling its parameters based on the state of the vehicle. Since the quadrotor is electrically powered, minimizing the control effort while keeping track of the trajectory will be investigated using least mean square algorithm. Furthermore, for path following the Tangent Heading Algorithm (THA) is proposed. To achieve the goals of this research one needs to develop in the process a Ground Control Station (GCS) for data logging, monitoring, and controlling the AUS quadrotor while performing its planned tasks. The system will be developed using hardware in the loop simulation to test and verify the development of the flight controls and the trajectory tracking ability. These simulations will validated through subsequent flight experiments.
    DSpace URI
    http://hdl.handle.net/11073/131
    Collections
    • Masters Theses

    Browse

    All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsCollege/DeptArchive ReferenceSeriesThis CollectionBy Issue DateAuthorsTitlesSubjectsCollege/DeptArchive ReferenceSeries

    My Account

    LoginRegister

    Statistics

    View Usage Statistics

    DSpace software copyright © 2002-2016  DuraSpace
    Submission Policies | Terms of Use | Takedown Policy | Privacy Policy | About Us | Contact Us | Send Feedback

    Return to AUS
    Theme by 
    Atmire NV