Robust Adaptive Control Laws for Tilt-Rotor Quadcopters Subject to User-Defined Constraints

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dc.contributor.advisorL'Afflitto, Andrea
dc.contributor.authorAnderson, Robert
dc.contributor.committeeMemberSun, Wei
dc.contributor.committeeMemberTang, Choon Yik
dc.date.accessioned2019-05-02T16:12:48Z
dc.date.available2019-05-02T16:12:48Z
dc.date.issued2019-05-10
dc.date.manuscript2019-05-02
dc.description.abstractThis thesis focuses on Model Reference Adaptive Control (MRAC) and its application to a tilt-rotor quadcopter. After formulating two standard MRAC approaches, this thesis proposes a robust model reference adaptive control law that guarantees satisfactory trajectory following for the nonlinear dynamical system despite parametric, matched, and unmatched uncertainties. This control law is unique for its ability to exploit barrier Lyapunov functions and guarantee user-defined constraints both on the trajectory tracking error and the adaptive gains at all time. The proposed robust control law is then applied to design a control law for a tilt-rotor quadcopter with H-configuration with unknown and unsteady center of mass and matrix of inertia due to the presence of poorly modeled and dangling payloads. The tilt-rotor quadcopter equations of motion are presented and thoroughly analyzed. A novel approach is proposed to model the coupling between the translational and rotational dynamics as matched uncertainties, and a control strategy is developed to overcome the vehicle's underactuation. A tilt-rotor is designed and all of the components are presented and discussed. A challenging experiment where a tilt-rotor quadcopter pulls an unknown cart is performed and the results show the applicability of the proposed theoretical framework.en_US
dc.identifier.urihttps://hdl.handle.net/11244/319551
dc.languageen_USen_US
dc.subjectRobust Adaptive Controlen_US
dc.subjectModel Reference Adaptive Controlen_US
dc.subjectTiltrotor Quadcopteren_US
dc.thesis.degreeMaster of Scienceen_US
dc.titleRobust Adaptive Control Laws for Tilt-Rotor Quadcopters Subject to User-Defined Constraintsen_US
ou.groupGallogly College of Engineering::School of Aerospace and Mechanical Engineeringen_US

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