This research explores modelling, design, and control of quadcopters, focusing on mitigating flight performance errors that compensate the performance of Unmanned Aerial Vehicles (UAVs) performance. It also explores a mathematical model for simulation and a control of rotary-wing UAV systems. Moreover, it describes a design methodology for a micro-sized UAV in CAD software. Adaptive control techniques are then used to design four sub-controllers of UAVs named Altitude Control, Roll, Pitch, and Yaw. It is basically a remodeling of classical Model Reference Adaptive Control (MRAC) scheme, which is named Hybrid MRAC, ensuring a better rise time performance than classical MRAC. The controllers are then analyzed in the presence of disturbances to prove that adaptive controllers are more robust to external disturbances than non-adaptive ones. Lastly for state estimation, an Extended Kalman Filter (EKF) is applied to account for real-world sensor noises that further degrade the performance of UAV


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    Titel :

    Mitigating Flight Performance Errors in UAVs through Hybrid MRAC controller


    Beteiligte:
    Tanveer, Aeshna (Autor:in) / Afzaal, Nimra (Autor:in) / Murawwat, Sadia (Autor:in) / Aleem, Sabaina (Autor:in) / Sayeda, Fatima (Autor:in)


    Erscheinungsdatum :

    02.12.2022


    Format / Umfang :

    694974 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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