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Title: Decentralized Anti-Windup Compensator Designs for Small Unmanned Aerial Vehicles
Authors: Ofodile, Nkemdilim Anulika
Supervisors: Turner, Matthew
Visintini, Andrea Lecchini
Award date: 23-May-2017
Presented at: University of Leicester
Abstract: This thesis studies the design and implementation of anti windup compensators for UAVs with magnitude and rate saturated actuators. The focus is on two types of UAVs; a Quadrotor UAV and a Fixed wing UAV. Decentralized anti-windup compensators are designed to address the problem of magnitude saturation in Quadrotor UAVs. The developed anti-windup compensators are founded on an LMI-based approach previously used in literature to provide global stabilty guarantees with some level of performance guarantees. The work on the decentralized anti-windup compensators for Quadrotor UAVs are further improved on by replacing the use of LMIs in the determination of the anti windup compensator parameters with approximate linear based guidelines after a Lure-Postinikov Lyapunov function is used to provide global stability guarantees. This approach applies not only to Quadrotor UAVs but also to a wide class of systems that contain double integrators. The developed anti-windup compensators were designed and implemented for an experimental Quadrotor UAV where both simulation results and flight test results clearly show the ability of the anti-windup compensators to reduce the effect of magnitude saturation in Quadrotor UAVs. Finally, the thesis describes the design of decoupled multivariable anti-windup compensators to tackle the problem of rate saturation on a fixed wing UAVs. Simulation results obtained demonstrate that these anti-windup compensators are capable of managing the system responses during periods of rate saturation.
Type: Thesis
Level: Doctoral
Qualification: PhD
Rights: Copyright © the author. All rights reserved.
Appears in Collections:Leicester Theses
Theses, Dept. of Engineering

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