Cooperative control of multi-tilt tricopter drones applying a ‘mixed’ negative imaginaryand strict passivity technique
|Dates:||12 September 2023|
|Times:||11:00 - 12:30|
|What is it:||Seminar|
|Organiser:||Department of Electrical and Electronic Engineering|
|Who is it for:||University staff, Current University students|
Welcome to this EEE Control & Robotics seminar
This work involves a cooperative controller for a fleet of multi-tilt tricopter dronesmodelled as Negative Imaginary (NI) systems via closed-loop linearization exploiting Sliding-Mode Control (SMC) technique. The multi-tilt tricopter model is derived from the firstprinciples, and the SMC method is invoked to obtain a closed-loop linear model of thetricopter plant with six outputs and six inputs. A subspace-based system identificationalgorithm is developed to identify the linearised drone model enforcing the NI property. Theprimary control objective is to design a distributed ‘mixed’ NI and strictly Passive controlprotocol so that the tricopter agents asymptotically reach the desired formation and keeptracking the target. Instead of the Lyapunov approach, the characteristic loci method is usedto prove the asymptotic convergence of the trajectory tracking error. The feasibility of theproposed method is tested with simulations in MATLAB.
Role: R&D Engineer
Organisation: Quanser Consulting Inc.
Biography: Daniel Abara is an R&D Engineer at Quanser Consulting Inc. He is currently onsecondment as an Academic Visitor in the Department of Electrical & Electronic Engineeringat the University of Manchester. Prior to that, Daniel had lectured at the University ofCrossRiver State (formerly Cross River Uni. of Tech.) and is still affiliated with the university. He hasinterests in control/autonomous systems, robotics, and data science. He holds a Bachelors inelectrical & Electronic Engineering from the Universityof Cross River, a Masters in AdvancedControl & Systems Engineering, and a Doctorate in Electrical & Electronic Engineering bothfrom the University of Manchester. He is a member of the Institute of Engineering andTechnology and a Fellow of the Higher Education Authority.
Travel and Contact Information
Engineering A_3A.018 M&T
Engineering Building A
Booth St E