| Proj No. | A1106-251 |
| Title | Multiple Observers based Safety Control for a Quadrotor UAV |
| Summary | Unmanned Aerial Vehicles (UAVs) are widely used in various applications, including transportation, surveillance, and search-and-rescue missions. However, their performance is significantly affected by external disturbances such as wind, payload oscillations, and model uncertainties. This project aims to develop a multiple observers-based safety control scheme to enhance the robustness and stability of quadrotor UAVs under such disturbances. The objective of this project is to develop and implement a safety control scheme that can significantly improve the robustness and safety of quadrotor UAVs. The proposed control framework will involve a Disturbance Observer (DO) to mitigate cable-suspended payload disturbances with partially known information, and an Extended State Observer (ESO) to compensate for wind disturbances with bounded variations. Additionally, another Model Predictive Control (MPC) based safety controller will be designed to address model uncertainties with the estimation results of DO and ESO. The effectiveness of the proposed control approach will be verified through both simulation studies and real-world experiments. The student candidates should possess the following qualities: 1. A strong grasp of mathematical concepts and the ability to review academic research papers. 2. Experience with MATLAB/Simulink tools and the Robot Operating System (ROS) 3. Sufficient time to conducting real-world flight experiments to validate the proposed control approach. |
| Supervisor | Prof Xie Lihua (Loc:S2 > S2 B2C > S2 B2C 94, Ext: +65 67904524) |
| Co-Supervisor | - |
| RI Co-Supervisor | - |
| Lab | Internet of Things Laboratory (Loc: S1-B4c-14, ext: 5470/5475) |
| Single/Group: | Single |
| Area: | Intelligent Systems and Control Engineering |
| ISP/RI/SMP/SCP?: |