Modeling and control of quadrotor formations carrying a slung load

Download

index.pdf

Date

2019

Author

Ariyibi, Segu

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

225
views

164
downloads

In this thesis, an algorithm for the autonomous formation flight of quadrotors carrying a slung load is developed. Full nonlinear models for a single quadrotor carrying a slung load as well as two and three quadrotors carrying a slung load problems are addressed. For the two and three quadrotor slung load systems, a leader-follower approach is employed to make the quadrotors fly in a fixed geometrical formation. The overall control algorithm employs a loop structure with a Lyapunov based formation guidance controller on the outermost loop. In the inner loop, two different approaches are employed. One approach uses linear quadratic tracking controllers to track the velocity commands to the quadrotors and the other approach utilizes a two-loop architecture where a linear quadratic tracking controller outputs a desired thrust vector direction which is then sent a Lyapunov function based quaternion parameterized nonlinear attitude controller. Simulations of our proposed algorithms is then carried out using the MATLAB/SIMULINK platform to test the efficacy of the control approaches employed.

Subject Keywords

Drone aircraft, Drone aircraft Design and construction., Unmanned Aerial Vehicle, Autonomous Formation flight, Lyapunov, Leaderfollower approach, Quaternion attitude control, Slung Load, Quadrotors.

URI

http://etd.lib.metu.edu.tr/upload/12623551/index.pdf
https://hdl.handle.net/11511/43715

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

High by-pass turbofan engines aerothermodynamic design and optimization Arayibi, Segun; Tekinalp, Ozan; Department of Aerospace Engineering (2014) In this thesis, a leader-follower approach is employed to make two unmanned aircrafts fly in a fixed geometrical formation. The first aircraft in the formation is designated as leader and the second is treated as the follower. The leader maintains a prescribed trajectory while the follower tracks and maintains a fixed relative distance from its leader. Since the associated kinematic equations are nonlinear, the relative guidance of the follower using two nonlinear control approaches, the Lyapunov based cont...
Predicting the shear strength of reinforced concrete beams using artificial neural networks Mansour, MY; Dicleli, Murat; Lee, JY; Zhang, J (Elsevier BV, 2004-05-01) The application of artificial neural networks (ANNs) to predict the ultimate shear strengths of reinforced concrete (RC) beams with transverse reinforcements is investigated in this paper. An ANN model is built, trained and tested using the available test data of 176 RC beams collected from the technical literature. The data used in the ANN model are arranged in a format of nine input parameters that cover the cylinder concrete compressive strength, yield strength of the longitudinal and transverse reinforc...
Prediction of Nonlinear Drift Demands for Buildings with Recurrent Neural Networks Kocamaz, Korhan; Binici, Barış; Tuncay, Kağan (2021-09-08) Application of deep learning algorithms to the problems of structural engineering is an emerging research field. Inthis study, a deep learning algorithm, namely recurrent neural network (RNN), is applied to tackle a problemrelated to the assessment of reinforced concrete buildings. Inter-storey drift ratio profile of a structure is a quiteimportant parameter while conducting assessment procedures. In general, procedures require a series of timeconsuming nonlinear dynamic analysis. In this study, an extensiv...
Design, Modeling, and Control Allocation of a Heavy-Lift Aerial Vehicle Consisting of Large Fixed Rotors and Small Tiltrotors Ozdogan, Gokhan; Leblebicioğlu, Mehmet Kemal (2022-02-01) In this article, we propose an unconventional heavy-lift aerial vehicle (HLAV), present the design and its control allocation analysis, and prove the concept by the demonstration of the experimental test prototype in the outdoor environment. We aim for a mechanically robust and simple vehicle design that efficiently performs heavy lifting compared to other common aerial vehicles under certain width constraints, without using a complex swashplate mechanism. The HLAV performs the task of carrying the main loa...
Evaluation of rotorcraft system identification approaches Kaymak, Serkan; Tekinalp, Ozan; Kutay, Ali Türker; Department of Aerospace Engineering (2013) This thesis addresses rotorcraft system identification approaches and estimating the stability and control parameters for linear system identification of a helicopter in hover. Output error and least square methods are used for the system identification. Inputs of the system identification analysis are obtained from the nonlinear helicopter model written in FLIGHTLAB commercial software environment. A linear helicopter model is used for identification. For validation, results obtained from identified helico...

Citation Formats

S. Ariyibi, “Modeling and control of quadrotor formations carrying a slung load,” Thesis (Ph.D.) -- Graduate School of Natural and Applied Sciences. Aerospace Engineering., Middle East Technical University, 2019.