ERA

Download the full-sized PDF of Nonlinear State Estimation and Modeling of a Helicopter UAVDownload the full-sized PDF

Actions

Download  |  Analytics

Export to: EndNote  |  Zotero  |  Mendeley

Communities

This file is in the following communities:

Faculty of Graduate Studies and Research

Collections

This file is in the following collections:

Theses and Dissertations

Nonlinear State Estimation and Modeling of a Helicopter UAV Open Access

Descriptions

Other title
Subject/Keyword
Flapping
AHRS
Nonlinear
UAV
Magnetometer
Invariance
Modeling
Estimation
Aided Navigation
Dynamics
Helicopter
Kalman Filter
INS
Type of item
Thesis
Degree grantor
University of Alberta
Author or creator
Barczyk, Martin
Supervisor and department
Lynch, Alan (Electrical and Computer Engineering)
Examining committee member and department
Tavakoli, Mahdi (Electrical and Computer Engineering)
Tayebi, Abdelhamid (Electrical Engineering, Lakehead University)
Chen, Tongwen (Electrical and Computer Engineering)
Jagersand, Martin (Computing Science)
Department
Department of Electrical and Computer Engineering
Specialization
Control Systems
Date accepted
2012-01-25T12:16:22Z
Graduation date
2012-06
Degree
Doctor of Philosophy
Degree level
Doctoral
Abstract
Experimentally-validated nonlinear flight control of a helicopter UAV has two necessary conditions: an estimate of the vehicle’s states from noisy multirate output measurements, and a nonlinear dynamics model with minimum complexity, physically controllable inputs and experimentally identified parameter values. This thesis addresses both these objectives for the Applied Nonlinear Controls Lab (ANCL)’s helicopter UAV project. A magnetometer-plus-GPS aided Inertial Navigation System (INS) for outdoor flight as well as an Attitude and Heading Reference System (AHRS) for indoor testing are designed, implemented and experimentally validated employing an Extended Kalman Filter (EKF), using a novel calibration technique for the magnetometer aiding sensor added to remove the limitations of an earlier GPS-only aiding design. Next the recently-developed nonlinear observer design methodology of invariant observers is adapted to the aided INS and AHRS examples, employing a rotation matrix representation for the state manifold to obtain designs amenable to global stability analysis, obtaining a direct nonlinear design for gains of the AHRS observer, modifying the previously-proposed Invariant EKF systematic method for computing gains, and culminating in simulation and experimental validation of the observers. Lastly a nonlinear control-oriented model of the helicopter UAV is derived from first principles, using a rigid-body dynamics formulation augmented with models of the on-board subsystems: main rotor forces and blade flapping dynamics, the Bell-Hiller system and flybar flapping dynamics, tail rotor forces, tail gyro unit, engine and rotor speed, servo operation, fuselage drag, and tail stabilizer forces. The parameter values in the resulting models are identified experimentally. Using these the model is further simplified to be tractable for model-based control design.
Language
English
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.
Citation for previous publication

File Details

Date Uploaded
Date Modified
2014-05-01T01:33:31.502+00:00
Audit Status
Audits have not yet been run on this file.
Characterization
File format: pdf (Portable Document Format)
Mime type: application/pdf
File size: 3775941
Last modified: 2015:10:12 20:45:55-06:00
Filename: Barczyk_Martin_Spring 2012.pdf
Original checksum: 1d7605d19603d11205987546acac5d2a
Well formed: true
Valid: true
Status message: Too many fonts to report; some fonts omitted. Total fonts = 1609
File title: phd_thesis.dvi
Page count: 216
Activity of users you follow
User Activity Date