DESIGN AND DEVELOPMENT OF CONTROL SYSTEMS FOR UAVS

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dc.contributor.authorYermekova, Alua
dc.date.accessioned2022-06-10T08:38:49Z
dc.date.available2022-06-10T08:38:49Z
dc.date.issued2022-05
dc.description.abstractIn 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.en_US
dc.identifier.citationYermekova, A. (2022). DESIGN AND DEVELOPMENT OF CONTROL SYSTEMS FOR UAVs (Unpublished master's thesis). Nazarbayev University, Nur-Sultan, Kazakhstanen_US
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/6218
dc.language.isoenen_US
dc.publisherNazarbayev University School of Engineering and Digital Sciencesen_US
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectUAV systemen_US
dc.subjectResearch Subject Categories::TECHNOLOGYen_US
dc.subjectType of access: Open Accessen_US
dc.subjectPID controlleren_US
dc.subjectaircraft dynamicsen_US
dc.titleDESIGN AND DEVELOPMENT OF CONTROL SYSTEMS FOR UAVSen_US
dc.typeMaster's thesisen_US
workflow.import.sourcescience

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