Adaptive and Optimal Motion Control of Multi UAV Systems
This thesis studies trajectory tracking and coordination control problems for single and multi unmanned aerial vehicle (UAV) systems. These control problems are addressed for both quadrotor and fixed wing UAV cases. Despite the fact that the literature has some approaches for both problems, most of the previous studies have implementation challenges on real time systems. In this thesis, we use a hierarchical modular approach where the high level coordination and formation control tasks are separated from low level individual UAV motion control tasks. This separation helps efficient and systematic optimal control synthesis robust to effects of nonlinearities, uncertainties and external disturbances at both levels, independently. The modular two level control structure is convenient in extending single UAV motion control design to coordination control of multi UAV systems. Therefore, we examine single quadrotor UAV trajectory tracking problems to develop advanced controllers compensating effects of nonlinearities and uncertainties, and improving robustness and optimality for tracking performance. At first, a novel adaptive linear quadratic tracking (ALQT) scheme is developed for stabilization and optimal attitude control of the quadrotor UAV system. In the implementation, the proposed scheme is integrated with Kalman based reliable attitude estimators, which compensate measurement noises. Next, in order to guarantee prescribed transient and steady state tracking performances, we have designed a novel backstepping based adaptive controller that is robust to effects of underactuated dynamics, nonlinearities and model uncertainties, e.g. inertial and rotational drag uncertainties. The tracking performance is guaranteed to utilize a prescribed performance bound (PPB) based error transformation. In the coordination control of multi UAV systems, following the two level control structure, at high level, we design a distributed hierarchical (leader follower) 3D formation control scheme. Then, the low level control design is based on the optimal and adaptive control designs performed for each quadrotor UAV separately. As particular approaches, we design an adaptive mixing controller (AMC) to improve robustness to varying parametric uncertainties and an adaptive linear quadratic controller (ALQC) Lastly, for planar motion, especially for constant altitude flight of fixedwing UAVs, in 2D, a distributed hierarchical (leader follower) formation control scheme at the high level and a linear quadratic tracking (LQT) scheme at the low level are developed for tracking and formation control problems of the fixed wing UAV systems to examine the non holonomic motion case. The proposed control methods are tested via simulations and experiments on a multi quadrotor UAV system testbed.