Abstract
dc:description.abstractEnergy-shaping techniques are used to expand the range of autonomous motion of unmanned aerial systems without prohibitively {color{black}increasing the computational cost of the resultant controller}. Passivity-based control presents a method to implement a static, nonlinear state feedback control law that stabilizes the motion of an aircraft with a large region of attraction. {color{black} The energy-based control scheme is applied to both multirotor and fixed-wing aircraft}. Multirotor aircraft dynamics are cast into a port-Hamiltonian System and the concept of trajectory tracking using canonical feedback transformation is implemented to construct a cross-track controller. Fixed-wing aircraft dynamics are cast in port-Hamiltonian form and a passivity-based nonlinear control law for steady, wings-level flight of a fixed-wing aircraft to a specified inertial velocity (speed, course, and climb angle) is constructed. Results in simulations and experiments suggest robustness, and a large region of attraction of the controller. The control law extended to support time-varying inertial velocity tracking that incorporates banking to turn. The results are extended by including a line-of-sight guidance law and varying the direction as a function of position relative to a desired path, rather than as a function of time. The control law and the associated proof of stability follow similarly to that of the time-varying directional stabilization problem. The results are supported with simulations as well as experimental flight tests.
Degree
thesis:*- Name thesis:degree_name
- Doctor of Philosophy
- Level thesis:degree_level
- doctoral
- Discipline thesis:degree_discipline
- Aerospace Engineering
- Department dc:contributor.department
- Aerospace and Ocean Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 2023
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Fahmi, Jean-Michel Walid
- Chair dc:contributor.committeechair
-
- Woolsey, Craig A.
- Committee members dc:contributor.committeemember
-
- Farhood, Mazen H.
- Patil, Mayuresh J.
- Ross, Shane D.
Subjects
dc:subject × 3Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
- Language dc:language.iso
- en
Identifiers
dc:identifier.*- Dc Identifier Other
- vt_gsexam:35848
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/113573