Date of Award
2024
Document Type
Dissertation
Degree Name
Doctor of Philosophy (PhD)
Department
Mechanical and Aerospace Engineering
Committee Chair
Farbod Fahimi
Committee Member
Chang-kwon Kang
Committee Member
Mark Lin
Committee Member
Howard Chen
Committee Member
Avimanyu Sahoo
Research Advisor
Farbod Fahimi
Subject(s)
Micro air vehicles--Aerodynamics, Micro air vehicles--Control, Sliding mode control
Abstract
Small aerial systems, such as nature-inspired flapping-wing micro aerial vehicles (FWMAV), operate in uncertain and dynamic environments that are subject to unknown disturbances, e.g., wind gusts. With the proliferation of inexpensive system components, extensive research has been dedicated to improving the operation of these FWMAVS, both in civilian and military applications. Given dynamic environments and variations in individual components, sliding mode control has become an increasingly applied control method for FWMAV. Its robustness proves invaluable to ensure stability in the presence of uncertain system parameters and environmental disturbances. This dissertation presents three discrete-time sliding mode control (DSMC) methods and applies them to different simulated FWMAV systems: 1) a robust DSMC for a theoretical butterfly-based FWMAV with variable flapping frequency, 2) a robust Adaptive DSMC (ADSMC) for a FWMAV with unknown state parameters, and 3) a modified robust ADSMC for a FWMAV with unknown state parameters and an unknown control parameter.
Recommended Citation
Hill, Joshua, "Adaptive discrete time sliding mode control for n-th order flapping-wing micro air vehicles with unknown parameters" (2024). Dissertations. 433.
https://louis.uah.edu/uah-dissertations/433