Thesis etd-03222016-153304 |
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Thesis type
Tesi di laurea magistrale
Author
MATASSINI, TOMMASO
URN
etd-03222016-153304
Thesis title
Neuro-Adaptive Control for UAVs
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof. Innocenti, Mario
Keywords
- Controllo Adattivo
- Neural Networks
- UAV
Graduation session start date
28/04/2016
Availability
Withheld
Release date
28/04/2086
Summary
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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