University of Twente Student Theses


Data-driven Modeling and control of Multi-Rotor Aerial Vehicles in Confined Environments

Aggarwal, Rohit (2023) Data-driven Modeling and control of Multi-Rotor Aerial Vehicles in Confined Environments.

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Abstract:Multi-aerial rotor vehicles, such as quadcopters and hexacopters, are increasingly finding application in confined environments, ranging from indoor surveillance and inspection to warehouse automation. Achieving precise and agile control in these constrained spaces presents unique challenges, that includes navigating limited space, coping with intricate environmental dynamics, the aerodynamic disturbances of the confined spaces and real-time decision-making constraints. Data-driven modeling incorporated Nonlinear Model Predictive Control (NMPC) are proposed as suitable solutions for addressing these challenges, with a focus on learning for improved adaptability and the capacity to model and adapt to disturbances in confined space environments. This thesis explores if the integration of data-driven modeling and model-based controllers can improve the performance of Multi Rotor Aerial Vehicles(MRAV) in confined environments. The potential combination of data-driven modeling and NMPC control offers several advantages in the context of confined environment applications. The major advantage is that the data-driven model provides a more accurate representation of the disturbances, allowing for improved tracking and robustness in the face of external disturbances which is crucial when navigating around obstacles. Firstly, the dynamic effects of flying an MRAV in a confined space is analysed based on measurements collected from physical experiments. Then, an NMPC controller that incorporates a Gaussian Process model is explored, proposed, implemented, analysed, and validated with real-time simulations. The proposed controller is compared with a nominal NMPC and NMPC controller that incorporates a state of the art Disturbance Observer. The results shows that the proposed controller outperformes both the nominal NMPC controller and the NMPC controller with the Disturbance Observer in simulation environment.
Item Type:Essay (Master)
Saxion University, Enschede, Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:01 general works
Programme:Systems and Control MSc (60359)
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