Document Details

Document Type : Thesis 
Document Title :
Designing of an optimal robust PID controllers for UAVs
تصميم متحكم مثالي صارم للطائرات غير المأهولة
 
Subject : Faculty of Engineering - Department of Aeronautical Engineering 
Document Language : Arabic 
Abstract : This thesis deals with the design and tuning of an efficient control system that satisfies the requirements of Unmanned Aerial Vehicles (UAVs’). The designed system is required to have the ability to be applicable to other Multi-Input-Multi-Output (MIMO) systems similar to today’s advanced Unmanned Aerial Vehicles. The targeted control system is a Proportional-Integral-Derivative (PID) controller. A great part of the thesis is targeted towards the optimization of tuning methods related to PID controllers to overcome the drawbacks of conventional tuning methods that require investing a large amount of time and a lot of manpower to deal with the large number of tuning parameters and repetitive adjustments through computer simulations and tests to achieve the desired performance. In this work, a new strategy to design optimal deadbeat PID controller for nonlinear higher-order systems is presented. The design combines deadbeat response, output feedback, and cascade gain techniques. The resulting control system improves time-response dynamic properties, and assures robustness against parameter uncertainties and external disturbances. The optimality and robustness of the controller are ensured with tuning only the cascade gain which remains useful for real-time implementation. The design scheme is illustrated on a pitch-axis autopilot design of an Unmanned Aerial Vehicle (UAV). Computer simulations demonstrate that the proposed deadbeat PID controller guarantees optimal system performance and robustness in the presence of system uncertainties. 
Supervisor : Dr. Belkacem Kada 
Thesis Type : Master Thesis 
Publishing Year : 1433 AH
2012 AD 
Added Date : Sunday, May 13, 2012 

Researchers

Researcher Name (Arabic)Researcher Name (English)Researcher TypeDr GradeEmail
يوسف مصطفى غزاويGhazzawi, Yousof MResearcherMaster 

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