Autopilot Design for Software-in-the-Loop Validation of Fixed-wing UAV Guidance Laws

Autopilot Design for Software-in-the-Loop Validation of Fixed-wing UAV Guidance Laws

Thomas, Arun (TU Delft Electrical Engineering, Mathematics and Computer Science)

Baldi, S. (mentor)
Verhaegen, M.H.G. (graduation committee)
van Genderen, A.J. (graduation committee)
Wang, X. (graduation committee)

Delft University of Technology

Electrical Engineering | Embedded Systems

2019-08-08

UnmannedAerial Vehicles(UAVs) have multi-domain applications and fixed-wing UAVs are a widely used class. There is ongoing research on topics in view to optimize the control and guidance of UAVs. This work explores the design, implementation and Software-in-the-Loop validation of an autopilot using adaptive guidance laws with emphasis on formation control of multiple fixed-wing UAVs. The work is done on Raspberry Pis in C++ which can be interfaced to standard autopilots as companion computers. The work splits a mission given by the user into primitive missions and uses an adaptive vector field approach for following it. For formation control, the work implements a discretized version of the Model Reference Adaptive Control synchronisation laws for multi-agent systems. Simulations are done in a distributed setting with a server program designed for the purpose. The server program handles the user inputs and configurations of the UAVs.

Unmanned Aerial Vehicle
Formation Control
Adaptive Vector Field
synchronization
Autopilot Design

http://resolver.tudelft.nl/uuid:fde5d464-52d5-449c-8160-52ba9c41b21b

Student theses

master thesis

© 2019 Arun Thomas