Robust controller design for a fixed wing UAV

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Fen Bilimleri Enstitüsü, Fen Bilimleri Enstitüsü, Türkiye

Tezin Onay Tarihi: 2009

Öğrenci: ANNA PRACH

Danışman: HÜSEYİN NAFİZ ALEMDAROĞLU

Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu

Özet:

This study describes the design and implementation of the pitch and roll autopilots for a fixed wing unmanned vehicle. A Tactical Unmanned Aerial Vehicle (TUAV), which is designed at the Middle East Technical University (METU), is used as a platform. This work combines development of the classical and robust controllers, which are used for the pitch and roll autopilots. One of the important steps in the thesis is development of the non-linear dynamic model of the UAV, which is developed in MATLAB/Simulink environment. Two different strategies of the controller design imply development of the PID and controllers. Simulation results illustrate the performances of the designed controllers. Simulation is performed for the nominal model of the UAV and for the model that includes uncertainties and sensor noises.