Unmanned Aerial Systems Guidance and Control Utilizing Instantaneous Screw Motion Invariants

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dc.contributor.advisorAzimov, Dilmurat
dc.contributor.authorAbdinabiev, Jasur
dc.contributor.departmentMechanical Engineering
dc.date.accessioned2022-03-03T19:56:43Z
dc.date.available2022-03-03T19:56:43Z
dc.date.issued2021
dc.description.abstractThe purpose of this research work is to study the applications of the instantaneous screw motion (ISM) concept to unmanned aerial system (UAS) dynamics, control, and guidance problems. Due to the potential use of this particular concept in dynamics and control problems, it is considered an essential subject to study. The advantages of this concept are that the ISM invariants are independent of the coordinate systems, and they can be expressed in terms of control parameters which allows us to find the control input and guidance commands without solving the traditional control problem. This research focuses on creating a framework for applications of the ISM concept in flight dynamics, control, and guidance problems in unmanned aerial vehicles (UAVs) by establishing the relationships between the ISM invariants and the dynamic and control parameters. A quadcopter and fixed-wing UAV models have been considered as an example of UAS. The expressions for the invariants have been derived using previous works. The motion of the instantaneous screw axis (ISA) has been studied, and the equations of motion have been derived. The method of defining the motion equations of the rigid body and the ISA as the functions of control parameters has been shown. The transition from the invariants to the traditional parameters (translational and rotational state parameters) has been represented. The profiles of the invariants and ISA have been obtained for several maneuvers of the quadcopter. The PD controller was utilized to simulate the results. The invariant description of a fixed-wing UAV motion on a vertical plane has been studied and the expressions for the invariants have been derived. Using the integrals obtained for this particular motion of a fixed-wing UAV, the invariants are found as the functions of the flight-path angle. An implicit relationship between the invariants and the parameters of flight dynamics (including the control parameters) has been established. The obtained results and expressions for the ISM invariants, flight dynamics, and control parameters can be used in control, guidance, and navigation problems.
dc.description.degreeM.S.
dc.identifier.urihttp://hdl.handle.net/10125/81648
dc.languageeng
dc.publisherUniversity of Hawaii at Manoa
dc.subjectMechanical engineering
dc.titleUnmanned Aerial Systems Guidance and Control Utilizing Instantaneous Screw Motion Invariants
dc.typeThesis
dc.type.dcmiText
local.identifier.alturihttp://dissertations.umi.com/hawii:11219

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