Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009. / This thesis details the development and comparison of two linear control systems
that performhover control for a vertical take-off and landing unmanned
aerial vehicle.
A non-linear mathematical model of the aircraft dynamics is developed. A
classical successive loop closure control approach is presented, which applies
static gains to the decoupled model around hover. A variable gain approach
is presented using optimal control, which linearises the aircraftmodel
around its state at fixed time steps.
Simulation performance and robustness results are examined for both systems.
Different aspects of both controller design processes and results are
compared, including navigational performance, robustness and ease of use.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/1753 |
| Date | 03 1900 |
| Creators | Wilson, John E. |
| Contributors | Jones, T., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. |
| Publisher | Stellenbosch : University of Stellenbosch |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Rights | University of Stellenbosch |
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