Guidance and Control System for VTOL UAVs operating in Contested Environments

dc.contributor.authorBinder, Paul Edwarden
dc.contributor.committeechairL'Afflitto, Andreaen
dc.contributor.committeememberWoolsey, Craig A.en
dc.contributor.committeememberJoerger, Mathieuen
dc.contributor.departmentAerospace and Ocean Engineeringen
dc.date.accessioned2024-03-02T09:00:12Zen
dc.date.available2024-03-02T09:00:12Zen
dc.date.issued2024-03-01en
dc.description.abstractThis thesis presents the initial components of an integrated guidance, navigation, and control system for vertical take-off and landing (VTOL) autonomous unmanned aerial vehicles (UAVs) such that they may map complex environments that may be hostile. The first part of this thesis presents an autonomous guidance system. For goal selection, the map is partitioned around the presence of obstacles and whether that area has been explored. To perform this partitioning, the Octree algorithm is implemented. In this thesis, we test this algorithm to find a parameter set that optimizes this algorithm. Having selected goal points, we perform a comparison of the LPA* and A* path planning algorithms with a custom heuristic that enables reckless or tactical maneuvers as the UAV maps the environment. For trajectory planning, the fMPC algorithm is applied to the feedback-linearized equations of motion of a quadcopter. For collision avoidance, standalone versions of 4 different constraint generation algorithms are evaluated to compare their resulting computation times, accuracy, and computed volume on a voxel map that simulates a 2-story house along with fixed paths that vary in length at fixed intervals as basis of tests. The second part of this thesis presents the theory of Model Reference Adaptive Control(MRAC) along with augmentation for output signal tracking and switched-dynamic systems. We then detail the development of longitudinal and lateral controllers a Quad-Rotor Tailsitter(QRBP) style UAV. In order to successfully implement the proposed controller on the QRBP, significant effort was placed upon physical design and testing apparatus.en
dc.description.abstractgeneralFor an autonomously operated, Unmanned Aerial Vehicle (UAV), to operate, it requires a guidance system to determine where and how to go, and a control system to effectively actuate the guidance system's commands. In this thesis, we detail the characterization and optimization of the algorithms comprising the guidance system. We then delve into the theory of MRAC and apply it toward a control system for a QRBP. We then detail additional tools developed to support the testing of the QRBP.en
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.othervt_gsexam:39576en
dc.identifier.urihttps://hdl.handle.net/10919/118246en
dc.language.isoenen
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectOCTreeen
dc.subjectPath Planningen
dc.subjectAutonomous Guidanceen
dc.subjectTrajectory Planningen
dc.subjectMPCen
dc.subjectCollision Avoidanceen
dc.subjectModel Reference Adaptive Controlen
dc.subjectRotor Characterizationen
dc.subjectQuadrotor Bi-Planeen
dc.subjectStatic UAV Testingen
dc.titleGuidance and Control System for VTOL UAVs operating in Contested Environmentsen
dc.typeThesisen
thesis.degree.disciplineAerospace Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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