Thesis’s Title: Research and development of trajectory planning and tracking methodologies to enhance the operational efficacy of Quadrotor.
Major: Electronics Engineering Code: 9520203
PhD Candidate: Tran Le Thang Dong
University: Thai Nguyen University of Technology (TNUT).
Science Instructor:
1. Assoc. Prof. Dr. Nguyen Tuan Minh, Thai Nguyen University.
2. Dr. Tran Thuan Hoang, Duy Tan University.
The contributions of thesis on science and practice, including:
Scientifically:
- A decoupled integrated control system has been proposed and constructed, comprising: a Fuzzy PID controller with 42 specific tuning rules suitable for the designed quadrotor model; a position controller using an improved optical flow method that reduces noise through phase correlation intensity weighting, enhancing the accuracy of sub-pixel interpolation in displacement vector calculation, thereby improving positioning precision; and a state controller based on a modified backstepping method that ensures complete positive definiteness of the Lyapunov function by incorporating a second-order term of the control error combined with the previous error, resulting in a fully stable system.
- Three advanced methods (MPC, SLSQP, and JPS) have been successfully integrated to plan UAV trajectories more efficiently, accurately, and safely in local environments. Specifically, JPS is used for global pathfinding, SLSQP optimizes the trajectory in detail to satisfy dynamic constraints, optimizing time and energy, while MPC ensures the UAV closely follows the trajectory in real-time and adapts to disturbances or unexpected obstacles. The method has been tested for effectiveness on a physical model.
Practically:
Proposing and implementing a multi-sensor quadrotor model with carefully calculated technical parameters to meet physically optimized criteria; hardware improvements also contributed to enhancing the quadrotor’s operational efficiency in the considered environment. The device can serve as a platform for developing several optimized control methods for quadrotor operations, including takeoff, trajectory tracking, and flight path planning.
