Robust Control of Teleoperated Unmanned Aerial Vehicles

University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

Author: Chunyang Han; [2020]

Keywords: communication delay; Model Predictive Control; linear discrete control system; reachability of target set and target tube; kommunikationsfördröjning; Model Predictive Control; linjärt diskret styrsystem; målsättning och målrörs tillgänglighet;

Abstract: In this thesis, we first use the reachability theory to develop algorithms for state predictionunder delayed state or output measurements. We next develop control strategies forcollision avoidance and trajectory tracking of UAVs based on the devised algorithms andthe model predictive control theory. Finally, simulations results for collision avoidanceand trajectory tracking problems are presented, for different communication delays,using a UAV model with 6 degrees of freedom.

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