13788

12530

كارشناسي ارشد

كنترل

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

۱۳۹۷

يازده، ۸۶ص.: مصور، جدول، نمودار

مريم ذكري، مرضيه كمالي

مجدالدين نجفي

1397/06/05

كتابنامه

برق و كامپيوتر

مهندسي برق و كامپيوتر

ID12530

Direct Adaptive Control Of Quadrotor With Considering Input Delay Sabziyan Elahe elahe sabzian@ec iut ac ir April 20 2018 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Prof M zekri mzekri@cc iut ac ir M Kamali M kamali@cc iut ac ir Abstract Quadrotors are a type of Unmanned Aerial Vehicles UAVs that have unique features compared to other ones includingflying ability of vertical take off and landing flight in small environments and high maneuverability the ability to implementand test a variety of control methods Equations of position and angles of quadrature are nonlinear equations in the strictfeedback form Given that in many cases the parameters in the quadrature equations are uncertain adaptive control is one ofthe suitable methods for controlling this system To control the quadrature position automatically a good feedback shouldbe available from its position For this purpose image processing is usually used to measure the position of the quadrature Therfore coordinates x and y and z of the quadrotor are measured by cameras with a good precision The main problemwith this method is in transfering This delay is considered as a delay in the quadrature input The main problem in thestability of input delay systems is the existence of time lag in system input Therefore the goal in this thesis is to control theposition of the quadrature system by considering of the delay in the input and the uncertainty of the system parameters Tosolve this problem a term consist of the integral of the input in the time delay range adds to the system error equations Inthis case the controller can compensate for the input time delay by estimating the system s uncertain parameters and usingthis integral input term in the definition of the error signal Also in this research a control based on the sliding surface withthe input integral compensator is proposed It is proved that the error defined in this method converges to zero despite theexistence of time delay and the parameters uncertainities Simulation results show that by using this controller the systemposition tracks the refrence position in the present of disturbance Key Words 1 Quadrotor 2 Strictly feedback 3 Time delay systems 4 Adaptive control 5 Sliding surface

مريم ذكري، مرضيه كمالي

مجدالدين نجفي