| 000 -LEADER |
|---|
| fixed length control field |
04055nam a22001577a 4500 |
| 082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER |
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| Classification number |
629.8 |
| 100 ## - MAIN ENTRY--PERSONAL NAME |
|---|
| Personal name |
Nashit Arshad , Syed |
| 245 ## - TITLE STATEMENT |
|---|
| Title |
TRAJECTORY TRACKING FOR AGRICULTURAL DYNAMIC MULTI COPTER AERIAL ROBOT / |
| Statement of responsibility, etc. |
Syed Muhammad Nashit Arshad |
| 264 ## - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Place of production, publication, distribution, manufacture |
Islamabad : |
| Name of producer, publisher, distributor, manufacturer |
SMME- NUST; |
| Date of production, publication, distribution, manufacture, or copyright notice |
2023. |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
161p. |
| Other physical details |
Soft Copy |
| Dimensions |
30cm. |
| 500 ## - GENERAL NOTE |
|---|
| General note |
Unmanned aerial vehicles (UAVs) have become a popular choice for spraying pesticide in<br/>agricultural use due to their versatility and maneuverability. Quadcopters carrying<br/>suspended water containers are widely used for firefighting services. The efficient<br/>transportation of liquids by UAVs is of utmost importance in various autonomous<br/>missions, including agriculture field spraying. A lot of research is being carried out on the<br/>control of these UAVs subject to the constraints of unwanted forces created by the sloshing<br/>liquid. However, the complex dynamics of this system can result in the degradation of<br/>flight safety due to the linkage among the UAV maneuver, container swing, and liquid<br/>sloshing.<br/>Liquid sloshing in a container is a well-known and longstanding challenge within the field<br/>of engineering. In this study, the word liquid sloshing refers to the variable wave surface<br/>elevation of the fluid in a container. Nevertheless, liquid sloshing can lead to undesirable<br/>effects such as instability, unwanted forces, position error, and increased control effort<br/>resulting in inefficient power utilization and payload constraints.<br/>To ensure the effective implementation of the control system for an agricultural spraying<br/>drone, it is essential to estimate the pesticide slosh model. The objective of this study is to<br/>ascertain sloshing parameters by employing an innovative technique that leverages a costeffective sensor. The proposed experimental setup employed during this investigation<br/>comprises a rectangular beaker positioned on a conveyor belt. A Kalman estimator based<br/>ultrasonic sensor, mounted atop the liquid-filled container whose slosh parameters<br/>necessitate identification, is employed. System identification techniques were employed<br/>to derive the system model. Comparative analysis involving calculation of the Root Mean<br/>Square Error (RMSE) were conducted to evaluate accuracy and error. Following numerous<br/>tests conducted at various slosh levels, the acquired data was subjected to analysis. The<br/>results obtained substantiate the feasibility of our concept in measuring slosh under<br/>dynamic conditions.<br/>To mitigate the effects of liquid sloshing, an approach based on Lagrangian is utilized that<br/>enables the development of dynamic model of UAV and resulting nonlinear coupled<br/>dynamics of liquid carrying quadrotor. This developed hybrid model, incorporating both<br/>slosh and drone dynamics, is thoroughly examined. It enables the application of different<br/>control strategies to attain satisfactory performance and meet energy requirements based<br/>xii<br/>on actuator control efforts. The study delves into two specific control methods: Linear<br/>Quadratic Regulator (LQR) and Proportional-Integral-Derivative (PID), extensively<br/>presenting, investigating, validating, and comparing their effectiveness in achieving<br/>stability and calculating energy demands for a hovering liquid-carrying quadcopter. The<br/>utilization of LQR and PID controllers offers notable enhancements in the overall<br/>quadcopter performance, accompanied by reduced operational expenses.<br/>Simulations based on Coppelia V-rep are also presented to investigate the real-time<br/>application of the suggested system. The results demonstrate a decrease in liquid slosh<br/>amplitude and, consequently, a reduction in the control effort of the controller. These<br/>findings have significant implications for improving the quality of quadcopter control in<br/>various real-world applications. |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
PhD Robotics and Intelligent Machine Engineering |
| 700 ## - ADDED ENTRY--PERSONAL NAME |
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| Personal name |
Supervisor : Dr. Yasar Ayaz |
| 856 ## - ELECTRONIC LOCATION AND ACCESS |
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| Uniform Resource Identifier |
<a href="http://10.250.8.41:8080/xmlui/handle/123456789/42055">http://10.250.8.41:8080/xmlui/handle/123456789/42055</a> |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
|---|
| Source of classification or shelving scheme |
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| Koha item type |
Thesis |
