亀ξ(課程博士(英文))別紙4Date of submission (month day, year)

NAOKIUCHIYA八IA.

Depa11ment
MEC1塾NICALStⅡdentlD Number

SEKISHITA

D149109

ENGINEERING
PP11Ca11t's n田れeJanuary 12, 2018

Supervlsors

NOBU八仏SA

REESAAKBAR

Abstract (Doctor)
Title ofThesis

Adaptive Nonlinear control for Robust lrajectory lracking control and Energy
Saving ofa Quadrotor Helicopter

Approx 80o words

Quadrotor helicopter or quadcopter unn〕am〕ed aerial vehicles (UAV) have attracted rese砥'chinterest due to its 、ヘ7ide ra11ge of applications such as naV地ation task (survei11ance, mapping,rescuing, etc.) a11d recently, physicalinta'action task (environn〕ent and lnanipulation of object)This is due to d〕e relatively slna11 body,10w n〕echanical con〕plexity, highly maneuver n〕otion, andenergy consun〕ption. The conu'ol perfon〕〕ance is al＼Nays lnauenced by aa'odynan〕ic fbrces andgyl'oscopic effect, and also by variation of altitude and 、Nind payload and its resources. The

Characteristic of quadcopter dynan〕ics is nonlinear and coupled, and lherefore it requires a robustContr0Ⅱer to con〕pensate for the uncertail〕ties and external dlsturbances.1n real applicalion, thequadcopter operation ls unable to have long tln〕e and also use a Hn〕ited po、Ner source. Because ofthis reason, d〕e quadcopter should consider tl〕e ena'gy consun〕ption in its operation,、Nhen theenergy can be saved then it can lengthen the oP引'ationaltin)e

The n〕ain objective of this tl〕esis is to design adaplive nonHnear for robust tracking and ena'gy
Saving control based on sliding mode contr01(SMC) of quadcopter dynan〕ics. More specificaⅡy,this d〕esis is focused to design sNlc strategy which are ea'ective in controlHng systelns a行'ected byUncertainty/disturbance.1he conventional slidinσ nlode contr0Ⅱer is presence of h地h 五'equency

OsciⅡations il〕 d〕e controlinput which is known as d〕atterino that n〕ay dan〕aoe tl〕e actuat01's andin磁'ease the energy consulnptions. Another disadvantage in n〕ost sMc design ls the reqUⅡ'elnent ofinfonnation about boundary ofdisturbance which is not easily obtained in practical cases
An adaptive gain tuning lnechanisn〕 based on super t、Nisting algoritl]1n (SIA) can estilnate tl〕e
Uncertainty adaptively is proposed in tl〕is d〕esis.1herefore, d〕e inlbrmatlon about boundary ofUncertainty/disturbal〕ce is not needed in the proposed adaptive sTA・SMC. The idea of adaptive
Slidinσ lnode is dynan〕ica11y in仇'eased (1〕e control gain untilreaching tl〕e 2・slidil)σ lnode. Then tl)eControl gain wi11 Start reducing and can be reversed as soon as the sliding variable or its derivative
Sta11 deviatinσ丘on〕 d〕e equilibriun〕 point of2・sliding mode.1ha'efore, a bound砥'y layer of sHdlng
Inode as "1il〕]ita'" is used in this adaptive sTA・SMc that prevel〕ts lhe control gah〕s ova'eslilnated4'＼Ⅳhen the condition of slidil〕g variable is under b0山ldary layer, then the control gain is
dynamicaⅡy reduced untilthe condition is reversed. Then the control gain wi11 dynalnicaⅡyincrease to force the sliding variable reaching to the previous condition in finite tin〕eIhe proposed adaptive sliding mode strategy is used to design a n〕odified super twisting algorithln
Conlr0Ⅱer which is a second slidinσ lnode contr0Ⅱer for quadcopter.10 improve d]e transientPerforn)ance oftl〕e quadcopter, a nonlinear sliding surface based adaptive dlatterinσ丘ee slidingn〕ode contr0Ⅱer is proposed. The nonlinear sliding surface changes the dosed・10op dynan〕ics
dampinσ rati0 五'om its initia110、N value to a {inal high value in accordance to the error n〕agnitude
Iherefore, f会St initialresponse and oradua11y decreased overshoot wi11 be occun'edThis dissertation lnainly consists of t11ree parts. First part of thesis describes the kinen〕atic anddynamic n〕odel ofa quadcopter. The lnodelis obtained by applyil〕g the Newton・Euler fon〕)ulationfor 6・DOF rigid・body in free motion 、Nith two reference coord加ate 丘alnes. h〕 addition、 tl〕e t11rust

fbrce ofrea11110tor is obtained 6.'om empirical formula 、刃ith respect to the voltaσe, tl〕e resistance ofreal n〕otor ls estilnated to obtain lhe energy consumption, and the quadcopter experimentaltestbedUsed in u]is 、Norks is explained togetha' with t11e sensors confiouration indudinσ Paralneters ofd〕eexperⅡnentaltestbed

Second pa110ftl〕esis describes t}〕e construction ofcascade control structure based on t11e dynamics,translational and rotational dynamics; and application of tl]e velocity states estilnator based on a
reduced・order observer which estin)ateS 6'om a continuous・tin〕e dynanlic model by considering thediscrete・tinle control systeln. virtualinput is introduced to solve the underactuated problen〕 inControl structure and create 6.111y‑actuated system then becolne a decoupled systen); therefbre, d)e
input on each lnotion can be contr0Ⅱed independently with any control algorialn〕.1hee丘'ectiveness of the control structure and d〕e obsa'ver experin〕enla11y is verified by usinσ aSlidil〕g・1node contr0Ⅱer and colnpared tl〕e results to those of a back、Nω'd・difference n〕̲ethodCon〕bined 、N北h a lo、N・pasS 丘lter.1he reduced・order obsa'ver σives relatively hiσha'σain 加r d〕edosed・10op contr0Ⅱer, hence 即'eatly reduclng tracking enor
Thh'd part of thesis presents robust trackino and energy saving control fbr quadcopter 、Ⅳith theColnbination of u〕e second order sMc based on lnodifled・supa' twisling algorithln wilh gainadaptive (ASTA) and nonlinear sliding surface (NLSS).1he Lyapunov stability theory is applied toProve stability of the proposed n〕ethod in and out of slidinσ n〕ode. A colnparative sludy 圦lith sTAand ASTAwas conducted.11〕 silnulationS 砥'e perfonned to verify the e丘ectiveness ofu〕e proposed
method, and there is no significant di丘a'ence betwea〕 ASTA with NLSS (ASTAN) and ASTA
approaches.1he eaectiveness and reliability of the proposed lnethod in the experimentaltestbedWith tlNo condition disturbances (＼Nithout disturbance and under wind disturbance)砥'e evaluated by
Perfonning severaltilnes expa'i111ents.1n experin〕ental results show that tl〕e ASTAN provides
robusttracking perfornlance with less energy
The lasl part ofdissertation is sulnmary and 会.1ture works are described