Abstract:
This thesis presents a comprehensive study on advanced control paradigms for bi-copter
UAVs, with a particular focus on enhancing stability, precision, and efficiency. The
research primarily investigates the performance of Event-Triggered Improved Super-
Twisting Sliding Mode Control (ETISTT-SMC) compared to traditional Sliding Mode
Control (SMC) and other advanced controllers like Time-Scale Transformation SMC
(TST-SMC) and Improved Time-Scale Transformation SMC (ITST-SMC). The study
demonstrates that ETISTT-SMC significantly improves tracking accuracy, response
time, and control effort, making it a superior choice for precise and agile control in
bi-copter systems. However, it also reveals the inherent trade-offs associated with
each controller, particularly regarding chattering behavior and energy consumption.
Controllers such as TST-SMC and ITST-SMC offer a balanced compromise between
accuracy and control smoothness, reducing chattering and improving overall system
stability. Through rigorous simulation and experimental validation, the research underscores
the importance of considering application-specific requirements when selecting
a control strategy. It identifies key trade-offs between tracking precision, control
smoothness, and energy efficiency, providing a comprehensive framework for choosing
the most suitable controller for various UAV applications. The thesis also outlines
future research directions, including the exploration of hybrid control approaches and
adaptive strategies to enhance the robustness and adaptability of bi-copter UAVs. Emphasis
is placed on addressing challenges related to chattering mitigation and energy
optimization to improve the practical viability of advanced control paradigms. Overall,
this research advances the understanding and development of control strategies for
bi-copter UAVs, contributing to the field by unlocking new possibilities for enhanced
performance, agility, and autonomy in diverse applications.
