| Author | Sukon Puntunan |
| Call Number | AIT Diss. no.ISE-07-02 |
| Subject(s) | Robots--Control systems
|
| Note | A dissertation submitted in partial fulfillment of the requirements for the
degree of Doctor of Engineering in
Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Dissertation ; no. ISE-07-02 |
| Abstract | The main objective of this dissertation is to develop a control system for an autonomous flying robot. The flying robot is modified from radio-controlled helicopter. Control of 6-DOF fully autonomous helicopter-type flying robot is very difficult because of the nonlinear unstable nature of the flying robot. In order to make the robot fly autonomously, attitude and position controls are required. Three control algorithms are proposed to control the flying robot. The first one is an online self-tuning precompensation for a Proportional-Integral-Derivative (PID) controller. Control performance of this control algorithm is evaluated on heading control. The heading control is based on the conventional PID control combined with an online self-tuning precompensation so that both the desired transient and steady state responses can be achieved. The precompensation is applied to compensate unsatisfied performances of the conventional PID controller by adjusting reference command. The results show that the conventional PID controller with an online self-tuning precompensation has a superior performance than the conventional PID controller. In the second proposed controller, Neuro-Fuzzy Control (NFC) is proposed to control roll and pitch of the flying robot. The attitude controllers are trained offline to reduce roll and pitch errors. The training data are obtained from flight data. In the third proposed controller, the Hybrid Adaptive Neuro-Fuzzy Model Reference Control (Hybrid-ANFMRC) is proposed to control the robot positions. The position control learns to track a velocity reference model online to obtain short response time, small oscillation, and no steady state error. Parameters robustness of the Hybrid-ANFMRC is addressed by testing in the experiments under various ranges of control gains. The experimental results confirm the feasible performance of the proposed control algorithm for the flying robot. |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Dissertation ; no. ISE-07-02 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V. ;Kusanagi, Michiro ;Takamasu, Kiyoshi ; |
| Scholarship Donor(s) | Royal Thai Air Force; |
| Degree | Thesis (Ph.D.) - Asian Institute of Technology, 2007 |