Upravljanje slijeđenjem trajektorije za multirotorske letjelice podložne smetnjama i nesigurnosti modela

master's thesis

• Title (english): Trajectory following controllers for multicopter UAV subject to disturbances and model uncertainty
• Author: Marin Kovač
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U radu je predstavljena teorijska podloga za MPC algoritam sa observerom poremecaja, INDI i backstepping upravljanje. Kroz testove provedene u simulaciji uz konstantu smetnju vjetra, udare vjetra, promijenjenu masu letjelice te promijenjenog aerodinamičkog koeficijenta pokazano je da MPC ima najbolje performanse. Također je pokazano da INDI upravljanje ima sličan učinak kao MPC bez observera poremećaja ili punog modela letjelice. Taj učinak i jednostavnost implementacije INDI metode čini je atraktivnim izborom za velike letjelice kojima je potrebno aktivno otklanjanje poremećaja u letu.

Abstract (english)

During the the thesis a detailed theoretical background was given for a robust version of the MPC with an EKF based disturbance observer, the incremental nonlinear dynamical inversion and the Backstepping controllers. During extensive simulation that included tests with constant wind, wind gusts, variable mass and drag coefficient tests it was shown that the MPC with the disturbance observer outperforms all the other controllers. The tests also showed that the INDI preforms very similarly as the MPC without the need for the observer or a full model of the aircraft. It was demonstrated that the realistic noise levels with a first order filter are not a problem for the implemented INDI controller. Furthermore it was concluded that for large UAVs the frequency of the INDI controller is less significant for performance as they react slowly to changes due to their high inertia. Additionally its implementation simplicity and computational efficiency make it an interesting choice for large industry level UAV systems that need to be certified.

• Keywords: MPC; Hsia upravljanje; Backstepping; nelinearno upraljanje; robusno upravljanje; pracenje trajektorije; otklanjanje premecaja
• Keywords (english): MPC; Hsia; INDI; Backstepping; Nonlinear control; robust control; trajectory following; disturbance rejection
• Language: english
• URN:NBN: urn:nbn:hr:168:626390
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 15:20:12