Masters' degree 

On 7/3/2018 , the postgraduate student ''Zainab SHaker Mahmood'' was granted an MSc. In Computer Engineering for his thesis entitled : “ Robust Multiple Model Adaptive  Dynamic Positioning of Quadrotor Helicopter System

Abstract

The quadrotor control has been one of the benchmark control problems. As a matter of fact, designing a flight control for micro scale quadrotor is still a challenging task because of its under-actuated feature, also, it is considered as a multivariable and highly nonlinear system due to its dynamics, having strong coupling between translation and angular motion and affected by external disturbances associated with flight environment, for instance, the effect of large payload variation. This provides the need to design a robust control. The controller needs to be able to keep up with sudden changes in addition to, the ability to find better tracking performance against modeling error and uncertainties

In this work, two types of state feedback control methods have been implemented; the first optimal controller is represented by LQR. This controller achieves stability of the aircraft, but it takes time and a small error still appears in some states. So, this provides the need for using LQ-servo controller which eliminates the error due to an integral part and provides a tracking design. Also, the LQ-servo control method has proved its durability towards the maximum variation in the wind gust. 

 Compared with LQR, in LQ-servo, better improvement has been obtained using Root Mean Square (RMS) and Integral Absolute Error ( IAE) values of tracking error which have been presented for linear and angular movements

Classical Multiple Model Adaptive Control (CMMAC) is another type of state feedback control. It is an adaptive control which embodies in its structure a bank of filters, Kalman filter has been used where each filter has been designed for a specific value of payload variation, and set of controllers, which was provided by the LQ-servo design. CMMAC meets better performance of tracking design for all payload mass variations

:The examining committee consisted of

 Assist.Prof. Dr. Salim Khalifa Kadhim President  

Assist .Prof. Dr. Hazem Ibrahim Ali  Member  

 Assist .Prof Dr. Muayed AbdulRida Sahib Member  

 Lecturer Dr. Aklas Fadel Hamza  Member and Supervisor