Development of nonlinear robust control techniques for unmanned aerial vehicles
tarafından
Tanyer, İlker, author.
Başlık
:
Development of nonlinear robust control techniques for unmanned aerial vehicles
Yazar
:
Tanyer, İlker, author.
Yazar Ek Girişi
:
Tanyer, İlker, author.
Fiziksel Tanımlama
:
xii, 117 leaves: color illustraltions.+ 1 computer laser optical disc.
Özet
:
In this thesis, model reference output tracking control of unmanned aircraft vehicles are aimed. The control problem is complicated due to the lack of accurate knowledge of nonlinear system dynamics and additive state-dependent nonlinear disturbancelike terms. Only the output of the vehicle is considered to be available for control design purposes. A novel robust controller is designed that ensured a global asymptotic stability result. In the design of the controller, proportional integral controller is fused with the integral of the signum of the tracking error to compensate uncertainties. Lyapunov type stability analysis are utilized to prove asymptotic convergence of the output tracking error. Extensions to optimal, adaptive and neural network controllers are also designed. Simulation and experiment results are presented to illustrate the performance of the robust controllers.
Konu Başlığı
:
Robust control -- Mathematical models.
Nonlinear control theory.
Drone aircraft -- Control systems.
Neural networks (Computer science)
Yazar Ek Girişi
:
Tatlıcıoğlu, Enver
Tüzel Kişi Ek Girişi
:
İzmir Institute of Technology. Electronics and Communication Engineering.
Tek Biçim Eser Adı
:
Thesis (Doctoral)--İzmir Institute of Technology: Electronics and Communication Engineering.
İzmir Institute of Technology: Electronics and Communication Engineering--Thesis (Doctoral).
Elektronik Erişim
:
Library | Materyal Türü | Demirbaş Numarası | Yer Numarası | Durumu/İade Tarihi |
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IYTE Library | Tez | T001347 | TJ217.2 .T16 2015 | Tez Koleksiyonu |