Theses and Dissertations
Date of Award
8-2022
Document Type
Thesis
Degree Name
Master of Science (MS)
Department
Electrical Engineering
First Advisor
Dr. Wenjie Dong
Second Advisor
Dr. Weidong Kuang
Third Advisor
Dr. Jun Peng
Abstract
In this thesis, the tracking control problem of a 6 DOF quadrotor is considered, and different control method is proposed considering optimal control, parametric and nonparametric uncertainty, input saturation, and distributed formation control. An optimal control approach is developed for single quadrotor tracking by minimizing the cost function. For uncertainties of the dynamic system, a robust adaptive tracking controller is proposed with the special structure of the dynamics of the system. Considering the uncertainty and input constraints, a robust adaptive saturation controller is proposed with the aid of an auxiliary compensated system. Decentralized formation control method for quadrotors is presented using a leader-follower scheme using proposed optimal control method. Virtual leader is employed to drive the quadrotors to their desired formation and ultimately track the trajectory defined by the virtual leader. Sliding mode estimators have been implemented to estimate the states of the virtual leader. The control method is designed considering switching communication topologies among the quadrotors. Simulation results are provided to show the effectiveness of the proposed approaches.
Recommended Citation
Ahmed, Shihab, "Tracking Control of Quadrotors" (2022). Theses and Dissertations. 1004.
https://scholarworks.utrgv.edu/etd/1004
Comments
Copyright 2022 Shihab Ahmed. All Rights Reserved.
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