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CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE EQUIPPED WITH A DELTA ROBOT MANIPULATOR

Oluşturulma Tarihi: 10-10-2016

Niteleme Bilgileri

Tür: Tez

Alt Tür: Yüksek Lisans Tezi

Yayınlanma Durumu: Yayınlanmamış

Dosya Biçimi: PDF

Dil: İngilizce

Konu(lar): TEKNOLOJİ, Makina mühendisliği ve makinalar, Elektrik mühendisliği. Elektronik. Nükleer mühendislik,

Yazar(lar): Aksal, Ahmet (Yazar),

Emeği Geçen(ler): Arıkan, Kutluk Bilge (Danışman),

Anahtar Kelimeler

Quadrotor, Unbalanced Quadrotor, Extended State Observer, Disturbance Observer, Backstepping Control, Active Disturbance Rejection Control, Aerial Manipulation, Delta Robot


Özet

In this thesis, robust controllers are designed and implemented for a quadrotor type of an unmanned aerial vehicle equipped with a delta robot as a manipulator. In order to achieve various applications with different robotic manipulators in the future studies, less model dependent control structures are studied. The coupled system is modelled as an unbalanced rigid body, i.e., location of the center of gravity with respect to the body fixed reference frame can change and the effects of the end-effector of the delta robot are considered as change in center of gravity and external disturbance torques for the platform. In simulations, Disturbance Observer combined with Integral-Proportional Derivative (I-PD) controller, Extended State Observer (ESO) combined with Proportional Derivative (PD) and the Backstepping controllers are implemented and results are evaluated. By considering the deviations in linear position of quadrotor under disturbances, workspace of delta robot is designed, and the link lengths of delta robot are optimized by using Genetic Algorithm which could cover designated workspace. Moreover, developed controller has been written in C language and embedded into a microcontroller based flight control board, Naze32. Finally, designed controllers are tested on the real system and results are presented. The simulations and the implementations show that the backstepping controller with ESO gives superior performance for the attitude control of the quadrotor equipped with a delta robot type parallel manipulator. The results and the experience of this thesis will be utilized to design flying robots for the purpose of aerial manipulation.


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