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Permanent link (DOI): https://doi.org/10.7939/R3FX06

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Control-Oriented Modeling and System Identification for Nonlinear Trajectory Tracking Control of a Small-Scale Unmanned Helicopter Open Access

Descriptions

Other title
Subject/Keyword
control-oriented model
sliding mode control
GPS latency
system identification
Kalman filter
swashplate
square model
HIL testbed
affine-in-control model
nonlinear control
Bell-Hiller mixer
unmanned helicopter
gyroscopic effect
Type of item
Thesis
Degree grantor
University of Alberta
Author or creator
Pourrezaei Khaligh, Sepehr
Supervisor and department
Koch, Charles Robert (Mechanical Engineering, University of Alberta)
Fahimi, Farbod (Mechanical and Aerospace Engineering, University of Alabama in Huntsville)
Examining committee member and department
Vehring, Reinhard (Mechanical Engineering, University of Alberta)
Pieper, Jeff K. (Mechanical Engineering, University of Calgary)
Lynch, Alan (Electrical and Computer Engineering, University of Alberta)
Koch, Charles Robert (Mechanical Engineering, University of Alberta)
Fahimi, Farbod (Mechanical and Aerospace Engineering, University of Alabama in Huntsville)
Raboud, Donald (Mechanical Engineering, University of Alberta)
Department
Department of Mechanical Engineering
Specialization

Date accepted
2014-03-13T15:10:56Z
Graduation date
2014-06
Degree
Doctor of Philosophy
Degree level
Doctoral
Abstract
Model-based control design of small-scale helicopters involves considerable challenges due to their nonlinear and underactuated dynamics with strong couplings between the different degrees-of-freedom (DOFs). Most nonlinear model-based multi-input multi-output (MIMO) control approaches require the dynamic model of the system to be affine-in-control and fully actuated. Since the existing formulations for helicopter nonlinear dynamic model do not meet these requirements, these MIMO approaches cannot be applied for control of helicopters and control designs in the literature mostly use the linearized model of the helicopter dynamics around different trim conditions instead of directly using the nonlinear model. The purpose of this thesis is to derive the 6-DOF nonlinear model of the helicopter in an affine-in-control, non-iterative and square input-output formulation to enable many nonlinear control approaches, that require a control-affine and square model such as the sliding mode control (SMC), to be used for control design of small-scale helicopters. A combination of the first-principles approach and system identification is used to derive this model. To complete the nonlinear model of the helicopter required for the control design, the inverse kinematics of the actuating mechanisms of the main and tail rotors are also derived using an approach suitable for the real-time control applications. The parameters of the new control-oriented formulation are identified using a time-domain system identification strategy and the model is validated using flight test data. A robust sliding mode control (SMC) is then designed using the new formulation of the helicopter dynamics and its robustness to parameter uncertainties and wind disturbances is tested in simulations. Next, a hardware-in-the-loop (HIL) testbed is designed to allow for the control implementation and gain tuning as well as testing the robustness of the controller to external disturbances in a controlled environment on the ground. The controller is also tested in real flights.
Language
English
DOI
doi:10.7939/R3FX06
Rights
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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