DESIGN AND DEVELOPMENT OF CONTROL SYSTEMS FOR UAVS
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Date
2022-05
Authors
Yermekova, Alua
Journal Title
Journal ISSN
Volume Title
Publisher
Nazarbayev University School of Engineering and Digital Sciences
Abstract
In this work, the closed-loop control of a fixed-wing UAV system was designed and a mathematical model was derived and stabilized using the PID controller with the Feed-forward compensation method to reduce the non-minimum phase. In the first part of the thesis project, a comprehensive systematic literature review on general UAV structures and their types, as well as their application was presented. Later the overall aircraft dynamics alongside the generalized roll angle model of a fixed-wing was pointedly described. Moreover, the nonlinear dynamics of both matrix differential equations and vector forms (traditional state-space form) were derived.
After modelling the system, the closed-loop control law was designed using the PID controller in MATLAB script. The reference generation was performed by using the two types of reference: simple (unit step signal and ramp) and complex (sine wave, square wave and their combination). Generated reference points were applied to test the controller behavior in various cases. The obtained closed-loop model had a negative transient behavior, which means it has a positive zero and caused the non-minimum phase system with even-numbered RHP (Right-hand plane) zeros. To reduce it, the various methods were tested and among them, the feed-forward compensation method showed the best performance in terms of usage, easy implementation, settling time, overshoot, and margin values.
Description
Keywords
UAV system, Research Subject Categories::TECHNOLOGY, Type of access: Open Access, PID controller, aircraft dynamics
Citation
Yermekova, A. (2022). DESIGN AND DEVELOPMENT OF CONTROL SYSTEMS FOR UAVs (Unpublished master's thesis). Nazarbayev University, Nur-Sultan, Kazakhstan