Tesi etd-03222016-153304 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
MATASSINI, TOMMASO
URN
etd-03222016-153304
Titolo
Neuro-Adaptive Control for UAVs
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Innocenti, Mario
Parole chiave
- Controllo Adattivo
- Neural Networks
- UAV
Data inizio appello
28/04/2016
Consultabilità
Non consultabile
Data di rilascio
28/04/2086
Riassunto
This thesis develops a control scheme for two Unmanned Aerial Vehicles (UAVs).
The proposed scheme is based on the nonlinear control theory combined with Adaptive Neural-Networks Disturbance Observer (NN-DOB) and controls the attitude and altitude of the UAV in presence of model uncertainties and external disturbances.
The NN-DOB can effectively estimate the uncertainties without the knowledge of their bounds and the control system stability is proven using Lyapunov’s stability theorems.
Numerical simulation results demonstrate the validity of the proposed method on the UAV under model uncertainties and external disturbances.
The proposed scheme is based on the nonlinear control theory combined with Adaptive Neural-Networks Disturbance Observer (NN-DOB) and controls the attitude and altitude of the UAV in presence of model uncertainties and external disturbances.
The NN-DOB can effectively estimate the uncertainties without the knowledge of their bounds and the control system stability is proven using Lyapunov’s stability theorems.
Numerical simulation results demonstrate the validity of the proposed method on the UAV under model uncertainties and external disturbances.
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