Preliminary Design of Robust Adaptive Control Laws for an Aerial Manipulator

Burke, John-Paul

Preliminary Design of Robust Adaptive Control Laws for an Aerial Manipulator

dc.contributor.advisor	L'Afflitto, Andrea
dc.contributor.author	Burke, John-Paul
dc.contributor.committeeMember	Miller, David
dc.contributor.committeeMember	Sun, Wei
dc.date.accessioned	2019-05-07T14:09:30Z
dc.date.available	2019-05-07T14:09:30Z
dc.date.issued	2019-05-10
dc.date.manuscript	2019-05
dc.description.abstract	One platform commonly used in modern control systems research is the quadcopter unmanned aerial vehicle (UAV). This platform finds many uses in both civilian and military aviation, such as aerial surveillance and imaging, search and rescue operations, and remote sensing. To perform these tasks, it is increasingly common to rely on autonomous UAVs to allow the vehicle to perform desired tasks without an operator. One weakness of the quadcopter UAV is its underactuation, since this vehicle has six degrees of freedom and only four control inputs. To overcome this complexity, it is proposed to actuate the vehicle propellers, creating a tiltrotor vehicle, in this thesis of the H-configuration. To this end, the equations of motion of the vehicle will be established, and an original robust model reference adaptive control law will be formulated to control the vehicle in the presence of disturbances. Another current goal in UAV research is in providing a method for the vehicle to manipulate its environment. In this thesis, a two-link robotic manipulator mounted on a cylindrical hinge will be used. This manipulator will have its own trajectory generation and control formulation for its end-effector, after which it will be mounted to the H-configuration tiltrotor. This combined aerial manipulator will be numerically simulated with the manipulator and tiltrotor control laws running simultaneously, demonstrating the feasibility of the combined system.	en_US
dc.identifier.uri	https://hdl.handle.net/11244/319571
dc.language	en_US	en_US
dc.rights	Attribution-NonCommercial-ShareAlike 4.0 International	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-sa/4.0/	*
dc.subject	Aerial Manipulation	en_US
dc.subject	Tiltrotor	en_US
dc.subject	Model Reference Adaptive Control	en_US
dc.subject	Robust Control	en_US
dc.thesis.degree	Master of Science	en_US
dc.title	Preliminary Design of Robust Adaptive Control Laws for an Aerial Manipulator	en_US
ou.group	Gallogly College of Engineering::School of Aerospace and Mechanical Engineering	en_US
shareok.nativefileaccess	restricted	en_US