Dynamic inversion and model predictive control for unmanned aerial vehicles

Title: Dynamic inversion and model predictive control for unmanned aerial vehicles
Authors: Cheng, Zhaoquan
Date: 2004
Abstract: Unmanned Aerial Vehicles (UAVs) have attracted considerable interest in the commercial markets for the military and civilian uses, such as surveillance and reconnaissance, aerial surveys for natural sources, traffic monitoring, and early forest fire detection, etc. Presently, UAVs are being proven as a cost-effective platform for the military and civilian applications because they gather information without endangering the lives of the pilots, increase maneuverability without limitations from human abilities, cost much less than the traditional aircrafts and do not need human-pilot interfaces. Although UAVs present numerous advantages over the manned aircrafts, they face challenges in achieving autonomous control. Model Predictive Control (MPC) is an interesting solution for UAV control to improve the level of autonomous control, but is mostly applicable to a linear or linearized system at this time. In this thesis, first is presented a complete kinematics and dynamic model of Unmanned Aerial Vehicles which is programmed in Simulink. Second, a control scheme based on a proportional controller for the inner loop and a proportional-integral controller for the outer loop is investigated. Model predictive control is applied to a linearized UAV using dynamic inversion, and simulation results obtained using a nonlinear UAV model are presented and analyzed in view of the suitability for UAV autonomous control.
URL: http://hdl.handle.net/10393/26603
CollectionTh├Ęses, 1910 - 2010 // Theses, 1910 - 2010
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