JavaScript is disabled for your browser. Some features of this site may not work without it.
| dc.contributor.author | Dawit, Kefale | |
| dc.date.accessioned | 2024-12-09T08:19:11Z | |
| dc.date.available | 2024-12-09T08:19:11Z | |
| dc.date.issued | 2024-03 | |
| dc.identifier.uri | http://ir.bdu.edu.et/handle/123456789/16337 | |
| dc.description.abstract | The study of control of quadrotors have been addressed extensively in different UAV research areas. Quadrotors are a type of Unmanned Aerial Vehicle (UAV) that has four actuators and six degrees of freedom capable of vertical take-off and landing (VTOL). In this work, the nonlinear dynamic model of the quadrotor has been first developed using the Newton–Euler technique and by considering the under-actuated and strongly coupled characteristics of the system, the controller has been then designed based a third-order sliding mode controller (TOSMC), supper twisting sliding mode controller (STSMC) and first-order sliding mode controller (SMC) schemes. The physics and behavior of quadrotors have been understood by analyzing the kinematic and dynamic models based on the earth and body frame. Model verification has been done to ensure the motion behavior of the quadrotor and controller design. The quadrotor control has been focused on the position, altitude, and attitude states manipulated by four control inputs. Analytical and hybrid GAPSO algorithms have been adopted to obtain the constant parameters of the controllers and performance analysis. Since a signum switching function has been used for the SMC, it resulted a high-frequency oscillation (chattering) in the control signal. The third order and the supper twisting sliding mode control algorithm have been guaranteed to remove the chattering. The performance comparison of the controllers has been evaluated under the synchronized effect of wind disturbance and uncertainties due to the parameter change of the system. Model development and simulation of the proposed system has been carried out using MATLAB Simulink and a set of simulations have been conducted to illustrate the different state variables and to study the performance of the proposed controllers. Finally, the HGAPSO-tuned TOSMC has performance supremacy in trajectory tracking, chattering elimination, settling time, rise time, and ITAE minimization over HGAPSO and analytically tuned STSMC and SMC. Keywords: hybrid GAPSO, MATLAB, Quadrotor, SMC, STSMC, TOSMC, UAV | en_US |
| dc.language.iso | en_US | en_US |
| dc.subject | Electrical and Computer Engineering | en_US |
| dc.title | Comparative Analysis of HGAPSO Tuned Third order-SMC, ST-SMC and SMC Controllers for Quadrotor (Unmanned Aerial Vehicle) Control | en_US |
| dc.type | Thesis | en_US |
