AUTONOMOUS SENSOR DEPLOYMENT USING AN UNMANNED AERIAL VEHICLE BY

194 Pages·2017·8.54 MB·English

AUTONOMOUS SENSOR DEPLOYMENT USING AN UNMANNED AERIAL
VEHICLE

BY
ABDULMAJEED MUHAMMAD KABIR

A Thesis Presented to the
DEANSHIP OF GRADUATE STUDIES
KING FAHD UNIVERSITY OF PETROLEUM & MINERALS
DHAHRAN, SAUDI ARABIA

In Partial Fulfillment of the
Requirements for the Degree of
MASTER OF SCIENCE
In
SYSTEMS & CONTROL ENGINEERING
DECEMBER 2016
KING FAHD UNIVERSITY OF PETROLEUM & MINERALS
DHAHRAN 31261, SAUDI ARABIA

DEANSHIP OF GRADUATE STUDIES

This thesis, written by ABDULMAJEED MUHAMMAD KABIR under the direction of
his thesis advisor and approved by his thesis committee, has been presented to and accepted
by the Dean of Graduate Studies, in partial fulfillment of the requirements for the degree
of MASTER OF SCIENCE IN SYSTEMS & CONTROL ENGINEERING.
© Abdulmajeed Muhammad Kabir
December 2016

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Dedicated to my beloved parents, lovely siblings, nephews and nieces, unmarried spouse
and unborn kids

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ACKNOWLEDGEMENTS

This thesis is the result of work done for a Masters degree from January 2015 to December
2016 at the department of Systems Engineering, King Fahd University under the
supervision of Dr. Samir Al-Amer. I would like to thank my advisor, Dr. Samir Al-Amer for
his kindness and guidance throughout the period of my research, I also appreciate Dr.
Sami El-Ferik for selecting me in his research team for this exciting work. I would also like
to thank Dr. Abdul Wahid Al-Saif for being in my thesis committee.

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Table of Contents
ACKNOWLEDGEMENTS ..............................................................................................v
LIST OF TABLES .......................................................................................................... xii
LIST OF FIGURES ....................................................................................................... xiii
LIST OF ABBREVIATIONS .........................................................................................xx
ABSTRACT (ENGLISH) .............................................................................................. xxi
ABSTRACT (ARABIC) ............................................................................................... xxii
CHAPTER 1 INTRODUCTION ......................................................................................1
1.1 Unmanned Aerial Vehicles ......................................................................................2
1.2 Micro Aerial Vehicles ..............................................................................................3
1.3 The Quadrotor ..........................................................................................................6
1.4 Problem Statement and Application ........................................................................7
1.5 Thesis Organization ...............................................................................................10
1.6 Scope and Objectives of Study ..............................................................................10
1.7 Problem Formulation and Contribution .................................................................11
CHAPTER 2 LITERATURE REVIEW ........................................................................12
2.1 Introduction ............................................................................................................12
2.2 History, Overview and Applications of Unmanned Aerial Vehicles ....................12
2.3 Quadrotor Control Methods ..................................................................................17
2.3.1 Literature on Control Structures ................................................................18
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2.3.2 Quadrotor Performance and Autonomy .....................................................20
2.3.3 Applications in Payload Delivery ..............................................................22
CHAPTER 3 QUADROTOR SYSTEM MODELING ................................................25
3.1 Introduction ............................................................................................................25
3.2 Kinematic Model ..................................................................................................27
3.3 Dynamics Modeling ..............................................................................................28
3.3.1 Rotational Dynamics ..................................................................................29
3.3.2 Translational Equations of Motion ...........................................................31
3.4 State Space Model .................................................................................................31
3.4.1 Rotational Dynamics ..................................................................................33
3.4.2 Translational Equations of Motion ...........................................................34
3.4.3 State Space Representation .......................................................................35
3.5 Expanded Model ...................................................................................................36
3.5.1 Aerodynamic Drag Forces and Moments .................................................37
3.5.2 Ground Effect ............................................................................................37
3.5.3 Wind Gust Effect ......................................................................................41
3.5.4 Sensor Noise .............................................................................................41
3.5.5 Modeling Prismatic Arm ...........................................................................42
3.5.6 Change in Moment of Inertia ....................................................................43
3.5.7 Change in Center of Mass .........................................................................46
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3.5.8 Dynamic Effects of Change in Center of Mass ........................................47
3.5.9 Complete Model ........................................................................................49
CHAPTER 4 AUTONOMOUS QUADROTOR CONTROL ......................................50
4.1 Introduction ............................................................................................................50
4.2 Backstepping Control ............................................................................................53
4.2.1 Controller Development for Roll Channel .................................................55
4.2.2 Controller Development for Altitude Channel .........................................57
4.2.3 Controller Development for Other Channels .............................................60
4.2.4 Controller Development for Under-Actuated Channel .............................61
4.2.5 Backstepping Controller for Plant B .........................................................62
4.3 Active Disturbance Rejection Control ..................................................................66
4.3.1 Controller Formulation ..............................................................................68
4.3.2 Controller Design for Roll Dynamics ........................................................73
4.3.3 Controller Design for Altitude Dynamics (Landing) .................................75
4.4 Numerical Optimal Control ..................................................................................77
4.4.1 Direct and Indirect Methods ......................................................................79
4.4.2 Literature on Trajectory Optimization .......................................................82
4.4.3 Trajectory Optimization Control................................................................83
4.4.4 Solution of the Trajectory Optimization Problem .....................................84
4.4.5 Direct Transcription (Hermite-Simpson Collocation) ...............................86
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4.5 Proportional Derivative Control of Prismatic Robotic Arm .................................89
4.6 Proportional Optimization of Controllers ..............................................................90
CHAPTER 5 HYBRID SYSTEM...................................................................................92
5.1 Hybrid System .......................................................................................................92
5.2 Hybrid Control Structure ......................................................................................94
5.2.1 Sensor Deployment ....................................................................................96
5.2.2 Sensor Retrieval ........................................................................................97
5.3 Robotic Hand ........................................................................................................99
5.4 Quadrotor Vision System ....................................................................................100
5.4.1 Introduction to the Vision System ...........................................................101
5.4.2 Camera Calibration .................................................................................101
5.4.3 Projection Transformation ......................................................................105
5.4.4 Image Processing ....................................................................................109
5.4.5 Vision Feedback to Controller ................................................................112
CHAPTER 6 SIMULATION, RESULTS AND VIRTUALIZATION .....................115
6.1 Introduction ..........................................................................................................115
6.2 Simulation Tools .................................................................................................115
6.2.1 MATLAB .................................................................................................116
6.2.2 VREP ......................................................................................................116
6.2.3 OpenCV ...................................................................................................116
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6.3 Results: Backstepping Controller ........................................................................117
6.3.1 Quadrotor Backstepping Control (Plant A) .............................................118
6.3.2 Quadrotor-Manipulator Backstepping Control I (Plant B) .....................122
6.3.3 Quadrotor-Manipulator Sensor Capsule Handling .................................125
6.4 Results: Active Disturbance Rejection Controller ...............................................128
6.4.1 Quadrotor-Manipulator ADRC Control I ...............................................129
6.4.2 Quadrotor-Manipulator ADRC Control II ..............................................134
6.4.3 Quadrotor Landing with ADRC...............................................................139
6.4.4 PD Control of 1-DOF Prismatic Arm ......................................................142
6.5 Results: Trajectory Optimization Controller .......................................................144
6.5.1 Trajectory Optimization Control .............................................................144
6.6 Comments on Controller Performance ................................................................149
6.6.1 Backstepping Controller .........................................................................149
6.6.2 Active Disturbance Rejection Controller (ADRC) ..................................150
6.6.3 Trajectory Optimization Controller ........................................................150
6.7 Robotics Simulation using VREP, OpenCV, Python and Matlab ...........151
CHAPTER 7 SUMMARY AND CONCLUSIONS .....................................................157
7.1 Summary of Work Done ......................................................................................157
7.2 Summary of Contributions ..................................................................................158
7.3 Future Work ........................................................................................................159
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