Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking

Detalhes bibliográficos
Ano de defesa: 2015
Autor(a) principal: Donadel, Rodrigo
Orientador(a): Becker, Leandro Buss
Banca de defesa: Não Informado pela instituição
Tipo de documento: Dissertação
Tipo de acesso: Acesso aberto
Idioma: eng
Instituição de defesa: Não Informado pela instituição
Programa de Pós-Graduação: Não Informado pela instituição
Departamento: Não Informado pela instituição
País: Não Informado pela instituição
Link de acesso: https://repositorio.ufsc.br/xmlui/handle/123456789/158766
Resumo: Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2015.
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spelling Universidade Federal de Santa CatarinaDonadel, RodrigoBecker, Leandro BussRaffo, Guilherme Vianna2016-02-09T03:01:12Z2016-02-09T03:01:12Z2015337437https://repositorio.ufsc.br/xmlui/handle/123456789/158766Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2015.Abstract : This master thesis deals with the modeling and control of a small scale birotor tiltrotor unmanned aerial vehicle (UAV). A tiltrotor is characterized by a mechanism that tilts the aircraft's rotors in order to control the flight. An UAV with such characteristics is being developed by this author and other researchers in the scope of the project named ProVANT. The developed UAV prototype is used in this work to obtain experimental results. This kind of system can be characterized by its underactuated, highly nonlinear, and coupled dynamics. Instead of using a dynamic model available in literature, this work proposes a more accurate model considering the UAV as a multibody system. By doing so the tilting angles become generalized coordinates and the tilt mechanism dynamics are naturally added to the model, as well as the coupling between the bodies. The result is an eight degrees of freedom model obtained through Euler-Lagrange formulation. The path tracking problem is solved here with linear optimal controllers for the full model, instead of the classical approach of cascade control for the translation and rotation subsystems. The developed controllers are linear quadratic regulators, a H1 controller and a multiobjective H2=H1 controller, all with LMI formulation. A nonlinear backstepping controller taken from the literature is implemented in order to be compared with the designed controllers. In addition, controllers for the hovering problem are also designed to be used in experiments with ProVANT's tiltrotor. They reduce the complexity of the initial experimental flights, focusing not only in the validation of the control system, but the complete project, including its electronics, mechanical design, and additional software. Such experiments are presented and discussed in details along this work. The work also addresses how flight-related information are gathered and processed. This includes the design of a nonlinear complementary filter for the attitude estimation that works with data acquired from the UAV sensors.<br>143 p.| il., grafs., tabs.engEngenharia de sistemasAutomaçãoControle automáticoAeronave não tripuladaModeling and control of a tiltrotor unmanned aerial vehicle for path trackinginfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisreponame:Repositório Institucional da UFSCinstname:Universidade Federal de Santa Catarina (UFSC)instacron:UFSCinfo:eu-repo/semantics/openAccessORIGINAL337437.pdfapplication/pdf7414111https://repositorio.ufsc.br/bitstream/123456789/158766/1/337437.pdf2bab6f7b0d4d376f975801166ea73051MD51123456789/1587662016-02-09 01:01:12.128oai:repositorio.ufsc.br:123456789/158766Repositório InstitucionalPUBhttp://150.162.242.35/oai/requestsandra.sobrera@ufsc.bropendoar:23732016-02-09T03:01:12Repositório Institucional da UFSC - Universidade Federal de Santa Catarina (UFSC)false
dc.title.pt_BR.fl_str_mv Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking
title Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking
spellingShingle Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking
Donadel, Rodrigo
Engenharia de sistemas
Automação
Controle automático
Aeronave não tripulada
title_short Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking
title_full Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking
title_fullStr Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking
title_full_unstemmed Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking
title_sort Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking
author Donadel, Rodrigo
author_facet Donadel, Rodrigo
author_role author
dc.contributor.pt_BR.fl_str_mv Universidade Federal de Santa Catarina
dc.contributor.author.fl_str_mv Donadel, Rodrigo
dc.contributor.advisor1.fl_str_mv Becker, Leandro Buss
dc.contributor.advisor-co1.fl_str_mv Raffo, Guilherme Vianna
contributor_str_mv Becker, Leandro Buss
Raffo, Guilherme Vianna
dc.subject.classification.pt_BR.fl_str_mv Engenharia de sistemas
Automação
Controle automático
Aeronave não tripulada
topic Engenharia de sistemas
Automação
Controle automático
Aeronave não tripulada
description Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2015.
publishDate 2015
dc.date.issued.fl_str_mv 2015
dc.date.accessioned.fl_str_mv 2016-02-09T03:01:12Z
dc.date.available.fl_str_mv 2016-02-09T03:01:12Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://repositorio.ufsc.br/xmlui/handle/123456789/158766
dc.identifier.other.pt_BR.fl_str_mv 337437
identifier_str_mv 337437
url https://repositorio.ufsc.br/xmlui/handle/123456789/158766
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 143 p.| il., grafs., tabs.
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFSC
instname:Universidade Federal de Santa Catarina (UFSC)
instacron:UFSC
instname_str Universidade Federal de Santa Catarina (UFSC)
instacron_str UFSC
institution UFSC
reponame_str Repositório Institucional da UFSC
collection Repositório Institucional da UFSC
bitstream.url.fl_str_mv https://repositorio.ufsc.br/bitstream/123456789/158766/1/337437.pdf
bitstream.checksum.fl_str_mv 2bab6f7b0d4d376f975801166ea73051
bitstream.checksumAlgorithm.fl_str_mv MD5
repository.name.fl_str_mv Repositório Institucional da UFSC - Universidade Federal de Santa Catarina (UFSC)
repository.mail.fl_str_mv sandra.sobrera@ufsc.br
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