EMRAC-based trajectory tracking control of unmanned aerial vehicles
Thesis in external company Thesis abroad
Reference persons ALESSANDRO RIZZO
External reference persons Dr. Umberto Montanaro, University of Surrey, UK
Thesis type THEORETICAL AND SIMULATION
Description The trajectory tracking control of unmanned aerial vehicles (UAV) is an outmost important task that has to be accuratelt performed despite the presence of unmodeled dynamics due to, for instance, external disturbances (e.g., wind gust) and parameter uncertainties (e.g., unknown loads).
The aim of the thesis is to tackle the UAV trajectory tracking control problem through the use the Enhanced Model Reference Adaptive Control (EMRAC). The EMRAC is an advanced Model Reference Adaptive Control (MRAC) technique that allows to suppress unmodeled nonlinear dynamics, external disturbances, and parameter mismatch, thus being promising for UAV control. During the thesis period, the student will model the UAV, design and implement EMRAC solutions, and perform simulations in a 3D robotics simulator (such as Gazebo-ROS). The thesis is in collaboration with the University of Surrey, UK. A visiting option can be opened in case of improvements of the current pandemic situation.
Reference articles are attached to this proposal.
See also 09210869.pdf
Deadline 10/09/2021 PROPONI LA TUA CANDIDATURA