Optimized non-linear control of a multi-rotor UAV system

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.