Control of Cooperative Unmanned Aerial Vehicles
CONTROL OF COOPERATIVE UNMANNED AERIAL VEHICLES
A Thesis submitted for the degree of Doctor of Philosophy (Ph.D) by
Kostas ALEXIS
Dipl. ELECTRICAL & COMPUTER ENGINEERING
UNIVERSITY OF PATRAS DEPARTMENT OF ELECTRICAL & COMPUTER ENGINEERING THESIS NO: 277 JULY 2011
The following dissertation by Kostas Alexis, Dipl. Electrical & Computer Engineering, is approved: “Control of Cooperative Unmanned Aerial Vehicles” The dissertation was presented in public on July 6th . The seven member committee: 1. Anthony Tzes, Professor at Electrical & Computer Engineering Department, University of Patras, Member of the advisor committee 2. Konstantinos Eustathiou, Assistant Professor at Electrical & Computer Engineering Department, University of Patras, Member of the advisor committee 3. Kimon Valavanis, Professor at Electrical & Computer Engineering Department, University of Denver, Member of the advisor committee 4. Stamatios Manesis, Associate Professor at Electrical & Computer Engineering Department, University of Patras 5. Stauros Koubias, Professor at Electrical & Computer Engineering Department, University of Patras 6. Evangelos Dermatas, Assistant Professor at Electrical & Computer Engineering Department, University of Patras 7. Nikolaos Aspragathos, Professor at Mechanical Engineering & Aeronautics, University of Patras July 2011, Patras, Greece The Supervisor and Head of Electrical and Computer Engineering Department, University of Patras:
Anthony Tzes, Professor
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Abstract
This thesis addresses the problems of design and control of small cooperative unmanned autonomous quadrotor aerial vehicles. A new approach for the modeling of the system’s dynamics using linearized Piecewise Affine Models, is proposed. The Piecewise Affine dynamic–models cover a large part of the quadrotor’s flight envelope while also taking into account the additive effects of environmental disturbances. The effects of aerodynamic forces and moments were also examined. A small
A Thesis submitted for the degree of Doctor of Philosophy (Ph.D) by
Kostas ALEXIS
Dipl. ELECTRICAL & COMPUTER ENGINEERING
UNIVERSITY OF PATRAS DEPARTMENT OF ELECTRICAL & COMPUTER ENGINEERING THESIS NO: 277 JULY 2011
The following dissertation by Kostas Alexis, Dipl. Electrical & Computer Engineering, is approved: “Control of Cooperative Unmanned Aerial Vehicles” The dissertation was presented in public on July 6th . The seven member committee: 1. Anthony Tzes, Professor at Electrical & Computer Engineering Department, University of Patras, Member of the advisor committee 2. Konstantinos Eustathiou, Assistant Professor at Electrical & Computer Engineering Department, University of Patras, Member of the advisor committee 3. Kimon Valavanis, Professor at Electrical & Computer Engineering Department, University of Denver, Member of the advisor committee 4. Stamatios Manesis, Associate Professor at Electrical & Computer Engineering Department, University of Patras 5. Stauros Koubias, Professor at Electrical & Computer Engineering Department, University of Patras 6. Evangelos Dermatas, Assistant Professor at Electrical & Computer Engineering Department, University of Patras 7. Nikolaos Aspragathos, Professor at Mechanical Engineering & Aeronautics, University of Patras July 2011, Patras, Greece The Supervisor and Head of Electrical and Computer Engineering Department, University of Patras:
Anthony Tzes, Professor
ii
Abstract
This thesis addresses the problems of design and control of small cooperative unmanned autonomous quadrotor aerial vehicles. A new approach for the modeling of the system’s dynamics using linearized Piecewise Affine Models, is proposed. The Piecewise Affine dynamic–models cover a large part of the quadrotor’s flight envelope while also taking into account the additive effects of environmental disturbances. The effects of aerodynamic forces and moments were also examined. A small