engleski

Design of an Adaptive Controller for Input Uncertainties on a Hexacopter UAV

In the project "Valles Marineris Explorer" the canyon system Valles Marineris shall be explored by a swarm made up of unmanned ground and aerial vehicles (UGV/UAV). Long term operated UAVs experience a certain amount of degradation, starting from propeller deterioration up to a complete motor failure. The reduction of control effectiveness and a complete loss of motors pose challenging problems for the controller design. However, results on a terrestrial vehicle cannot be easily transferred to the Martian environment. The goal of this thesis is to develop an adaptive controller augmenting the existing NDI baseline controller in order to handle input uncertainties such as motor degradation. The controller design shall be validated in simulation. Moreover, the environment conversion problem shall be discussed in order to find guidelines which allow a transfer of results from Terrestrial to the Martian environment. Finally, a flight test shall be conducted. Since the latter is dependent on the availability of the terrestrial vehicle, it is seen as optional.

Feedback linearization; Fault-tolerant Control; Model Reference Adaptive Control; UAV; Actuator failures; Input uncertainties

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