LEADER 00000nam  2200325   4500 
001    AAIMR61280 
005    20110110132632.5 
008    110110s2010    ||||||||||||||||| ||eng d 
020    9780494612804 
035    (UMI)AAIMR61280 
040    UMI|cUMI 
100 1  Raza, Syed Ali 
245 10 Design and control of a quadrotor unmanned aerial vehicle 
300    104 p 
500    Source: Masters Abstracts International, Volume: 48-06, 
       page: 3808 
502    Thesis (M.A.Sc.)--University of Ottawa (Canada), 2010 
520    This research work is focused on the different steps of 
       designing, building, simulating, and testing an 
       intelligent flight control module for an increasingly 
       popular unmanned aerial robot vehicle (UAV), known as a 
       quadrotor. Also an in-depth view of the modeling of the 
       kinematics, dynamics, and control of such an interesting 
       UAV is presented. Eventually, a quadrotor UAV test-bed is 
       built from scratch using custom off-the-shelf components 
520    In order to achieve autonomous flight, fuzzy logic is 
       adopted for building the flight controller of the 
       quadrotor. It has been witnessed that fuzzy logic control 
       may offer several advantages over certain types of 
       conventional control methods, specifically in dealing with
       highly nonlinear systems and modeling uncertainties. Some 
       of these advantages are explained and compared with other 
       conventional control techniques. Two types of fuzzy 
       inference engines are employed in the design of the flight
       controller each method of which is explained and evaluated
520    A helium balloon of calculated size is added to the frame 
       of the quadrotor so that the lifting gas cancels some of 
       the dead weight. A feasible ratio of buoyancy force and 
       weight is found to maintain the stability of the 
       quadrotor. A feasible size and pitch of propellers is also
       explored to minimize the power usage as well as providing 
       sufficient thrust for desired maneuverability 
520    A bank of supercapacitors is also added to the existing 
       power supply design. The idea is to exploit the advantages
       of super capacitors such as fast-charging and discharging 
       and high power density. The proposed design of power 
       supply provides longer operational time when compared to 
       the conventional battery based circuits. Also the design 
       is cost effective and improves the battery life by 
       preventing deep discharges from the lithium-polymer 
       battery power source 
520    The experimental results demonstrated a successful control
       performance under both inference engines. When compared to
       other conventional techniques applied for a similar 
       purpose, the proposed methodology showed a higher 
       robustness despite the induced disturbances. Also a slight
       improvement was observed in the overall flight-time of the
       quadrotor after applying the hybrid UAV design as well as 
       the hybrid power supply unit (PSU) module to the quadrotor
590    School code: 0918 
650  4 Engineering, Electronics and Electrical 
690    0544 
710 2  University of Ottawa (Canada) 
773 0  |tMasters Abstracts International|g48-06 
856 40 |uhttp://pqdd.sinica.edu.tw/twdaoapp/servlet/