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dc.contributor.advisorRamirez-Serrano, Alejandro
dc.contributor.advisorPieper, Jeff
dc.contributor.authorBagheri, Pedram
dc.date.accessioned2014-01-28T21:31:35Z
dc.date.available2014-03-15T07:00:19Z
dc.date.issued2014-01-28
dc.date.submitted2014en
dc.identifier.citationBagheri, P. (2014). Adaptive Control of Nonlinear Mechanical Systems: With Application to Unmanned Aerial Vehicles (Unpublished master's thesis). University of Calgary, Calgary, AB. doi:10.11575/PRISM/24700en_US
dc.identifier.urihttp://hdl.handle.net/11023/1304
dc.description.abstractAdaptive control of nonlinear mechanical systems with a novel dual-ducted UAV as the case study is considered in this thesis. At the outset, the equations governing the dynamics of the UAV are extracted. Various dynamical traits of the UAV are scrutinized and mathematically modeled. The dynamics of the UAV is highly nonlinear and not originally in the control-affine form. Therefore, a change of variables is proposed to transform the dynamic equations into the control-affine form. It is assumed that the system is subject to unknown disturbances. Furthermore, a nonlinear controller is designed to enable the UAV to follow desired trajectories. Since unknown time-varying disturbances are imposed on the system, the designed controller must be robust to handle such disturbances. Thus, the controller is modified in order to reject any unknown but bounded disturbance. Unlike previous nonlinear robust methods applied to this UAV, the asymptotic stability of the controller in the presence of unknown disturbance is analytically demonstrated. The controller enables the UAV to follow any desired translational and rotational trajectory and also accounts for a range of unknown disturbances. Finally, several computerized simulations are conducted to verify the analytical results.en_US
dc.language.isoeng
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectRobotics
dc.subject.classificationNonlinear Controlen_US
dc.subject.classificationAdaptive Controlen_US
dc.titleAdaptive Control of Nonlinear Mechanical Systems: With Application to Unmanned Aerial Vehicles
dc.typemaster thesis
dc.publisher.facultyGraduate Studies
dc.publisher.institutionUniversity of Calgaryen
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/24700
thesis.degree.nameMaster of Science
thesis.degree.nameMS
thesis.degree.nameMSc
thesis.degree.disciplineMechanical and Manufacturing Engineering
thesis.degree.grantorUniversity of Calgary
atmire.migration.oldid1869
dc.publisher.placeCalgaryen
ucalgary.item.requestcopytrue


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