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

BROWSE_DETAIL_CREATION_DATE: 10-10-2016

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BROWSE_DETAIL_TYPE: Thesis

BROWSE_DETAIL_SUB_TYPE: Masters

BROWSE_DETAIL_PUBLISH_STATE: Unpublished

BROWSE_DETAIL_FORMAT: PDF Document

BROWSE_DETAIL_LANG: English

BROWSE_DETAIL_SUBJECTS: TECHNOLOGY, Mechanical engineering and machinery, Electrical engineering. Electronics. Nuclear engineering,

BROWSE_DETAIL_CREATORS: Aksal, Ahmet (Author),

BROWSE_DETAIL_CONTRIBUTERS: Arıkan, Kutluk Bilge (Advisor),

BROWSE_DETAIL_TAB_KEYWORDS

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


BROWSE_DETAIL_TAB_ABSTRACT

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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