The main objective of the current dissertation is to develop a "Plug and Play" autopilot. We present a systematic approach to decouple controller and filter design from hardware selection. This approach also addresses the performance decay due to hardware limitations. The outcome of this work is an integrated environment to develop, validate, and test algorithms to be used on flight controllers.
The dynamic model of an off-the-shelf radio controlled airplane is derived. A controller is developed for the aircraft and it is implemented within the proposed framework. The framework and the controller developed are validated using hardware-in-the-loop simulation. A physical experiment with an autonomous ground vehicle is performed to test the autopilot and algorithms before test flights are performed. Finally a test flight is performed using a Great Planes Funster.
A novel microsatellite attitude controller is presented. This controller is also developed and implemented using the approach presented in this dissertation. A satellite attitude hybrid simulator is presented and its design is discussed. An experimental apparatus to test the controller in a microgravity environment is constructed and discussed.
Finally a set of experiments that demonstrate how the framework can be integrated into commercially available autopilots and vehicles is presented. First an off-the-shelf quad-rotor that integrates a look-down camera is used to perform visual navigation and landing. Second, a rover and a quad-rotor are used on a cooperative schema. The rover follows a route and the quad-rotor escorts it. The third experiment presents a popular autopilot on a surveillance mission. For this mission the airplane is equipped not only with the autopilot and radio link, but also with a video system. The video system consists of a camera and a radio link. These experimental results demonstrate the utility of the proposed framework in enhancing the capabilities of off-the-shelf autopilots and vehicles while simultaneously simplifying mission preparation and execution.
|Commitee:||Bursik, Marcus, Crassidis, John L., Juang, Jer-Nan, Singla, Puneet|
|School:||State University of New York at Buffalo|
|Department:||Mechanical and Aerospace Engineering|
|School Location:||United States -- New York|
|Source:||DAI-B 76/11(E), Dissertation Abstracts International|
|Subjects:||Aerospace engineering, Electrical engineering, Mechanical engineering, Computer science|
|Keywords:||Automatic controll, Autopilot, Control systems, Drone, Unmanned air systems, Unmanned air vehicles|
Copyright in each Dissertation and Thesis is retained by the author. All Rights Reserved
The supplemental file or files you are about to download were provided to ProQuest by the author as part of a
dissertation or thesis. The supplemental files are provided "AS IS" without warranty. ProQuest is not responsible for the
content, format or impact on the supplemental file(s) on our system. in some cases, the file type may be unknown or
may be a .exe file. We recommend caution as you open such files.
Copyright of the original materials contained in the supplemental file is retained by the author and your access to the
supplemental files is subject to the ProQuest Terms and Conditions of use.
Depending on the size of the file(s) you are downloading, the system may take some time to download them. Please be