NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE
Autor(a) principal: | |
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Data de Publicação: | 2023 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10362/155443 |
Resumo: | Drones have become increasingly popularized in recent years, be it in military use or as a hobby for the general public. The increase in usage of drones poses a challenge to security of zones where flying is monitored and prohibited for everyone, such as airports. Unmanned aerial vehicles show great promise in tackling problems such as this, where they must capture a drone in a set environment. This thesis addresses this problem by studying pursuit-evasion games, human-in-theloop as well as non-linear and predictive control in order to create an unmanned aerial vehicle capable of pursuing and capturing a manned drone. The full models for the ground vehicle and the RUAV were done, as well as two simple versions of the fixed-wing UAV, and one simplified version of the RUAV. For the RUAV two simple internal controllers were created, in order to produce the necessary forces and torques. Next, a NMPC controller was created for each vehicle, then a simulation of both vehicles with NMPC was done for joint-tracking, and finally for the differential game. Lastly the human-in-the-loop was added to the NMPC of the fixed-wing, and then to the differential game between the fixed-wing and the RUAV. The results show that a NMPC controller is effective at handling dynamic models and aggressive changes in trajectory while still accounting for the physical constraints imposed. The differential game used provided the pursuit-evader scenario desired, where it was possible to see various interactions between vehicles. Finally, the human-in-theloop was integrated with the fixed-wing model. |
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NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTUREHuman-in-the-loopModel Predictive ControlNon-linear MPCDifferential gamesPursuit-Evasion GamesUnmanned Aerial VehicleDomínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e InformáticaDrones have become increasingly popularized in recent years, be it in military use or as a hobby for the general public. The increase in usage of drones poses a challenge to security of zones where flying is monitored and prohibited for everyone, such as airports. Unmanned aerial vehicles show great promise in tackling problems such as this, where they must capture a drone in a set environment. This thesis addresses this problem by studying pursuit-evasion games, human-in-theloop as well as non-linear and predictive control in order to create an unmanned aerial vehicle capable of pursuing and capturing a manned drone. The full models for the ground vehicle and the RUAV were done, as well as two simple versions of the fixed-wing UAV, and one simplified version of the RUAV. For the RUAV two simple internal controllers were created, in order to produce the necessary forces and torques. Next, a NMPC controller was created for each vehicle, then a simulation of both vehicles with NMPC was done for joint-tracking, and finally for the differential game. Lastly the human-in-the-loop was added to the NMPC of the fixed-wing, and then to the differential game between the fixed-wing and the RUAV. The results show that a NMPC controller is effective at handling dynamic models and aggressive changes in trajectory while still accounting for the physical constraints imposed. The differential game used provided the pursuit-evader scenario desired, where it was possible to see various interactions between vehicles. Finally, the human-in-theloop was integrated with the fixed-wing model.Drones têm-se tornado populares em recentes anos, quer para uso militar quer para o uso pessoal do público. Este aumento no uso de drones gera a necessidade de segurança em zonas onde veículos aéreos são monitorizados ou proibidos de voar, como por exemplo aeroportos. Veículos aéreos não tripulados apresentam uma grande promessa em combater este tipo de problemas onde é necessário capturar outro veículo num ambiente designado. Esta dissertação pretende desenvolver uma solução para este problema começando por estudar jogos diferencias, de perseguição-evasão, humanos na malha de controlo, bem como controlo não linear e preditivo, de forma a criar um veículo aéreo não tripulado que seja capaz de perseguir e capturar um drone comandado por um ser humano. Foram criados modelos completos do UGV e do RUAV, tal como duas versões simples do avião, e uma versão simplificada do RUAV. Para o RUAV foram desenvolvidos dois controladores simples capazes de devolver as forças e torques necessários. De seguida foi criado um controlador NMPC para cada veículo, depois foi simulado controladores NMPC para ambos os veículos em seguimento conjunto e finalmente para o jogo diferencial. Por último o ser humano foi incorporado no controlador NMPC do avião, seguido pela integração do controlador no jogo diferencial entre o avião e o RUAV. Os resultados demonstraram que um controlador NMPC é eficaz a suportar modelos dinâmicos com mudanças agressivas de trajetória, considerando as restrições físicas impostas. O jogo diferencial ofereceu um cenário perfeito para a mentalidade desejada de perseguição-evasão, onde foi possível ver várias interações entre os veículos. Finalmente o ser humano foi incorporado no modelo e controlo do avião.Guerreiro, BrunoRUNRodrigues, Patrícia Alexandra Gonçalves2023-07-18T13:27:58Z2023-052023-05-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10362/155443enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-11T05:38:01Zoai:run.unl.pt:10362/155443Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:56:04.386314Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE |
title |
NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE |
spellingShingle |
NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE Rodrigues, Patrícia Alexandra Gonçalves Human-in-the-loop Model Predictive Control Non-linear MPC Differential games Pursuit-Evasion Games Unmanned Aerial Vehicle Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
title_short |
NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE |
title_full |
NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE |
title_fullStr |
NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE |
title_full_unstemmed |
NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE |
title_sort |
NON-COOPERATIVE CONTROL OF A SHUTTLE DRONE FOR MANNED DRONE CAPTURE |
author |
Rodrigues, Patrícia Alexandra Gonçalves |
author_facet |
Rodrigues, Patrícia Alexandra Gonçalves |
author_role |
author |
dc.contributor.none.fl_str_mv |
Guerreiro, Bruno RUN |
dc.contributor.author.fl_str_mv |
Rodrigues, Patrícia Alexandra Gonçalves |
dc.subject.por.fl_str_mv |
Human-in-the-loop Model Predictive Control Non-linear MPC Differential games Pursuit-Evasion Games Unmanned Aerial Vehicle Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
topic |
Human-in-the-loop Model Predictive Control Non-linear MPC Differential games Pursuit-Evasion Games Unmanned Aerial Vehicle Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
description |
Drones have become increasingly popularized in recent years, be it in military use or as a hobby for the general public. The increase in usage of drones poses a challenge to security of zones where flying is monitored and prohibited for everyone, such as airports. Unmanned aerial vehicles show great promise in tackling problems such as this, where they must capture a drone in a set environment. This thesis addresses this problem by studying pursuit-evasion games, human-in-theloop as well as non-linear and predictive control in order to create an unmanned aerial vehicle capable of pursuing and capturing a manned drone. The full models for the ground vehicle and the RUAV were done, as well as two simple versions of the fixed-wing UAV, and one simplified version of the RUAV. For the RUAV two simple internal controllers were created, in order to produce the necessary forces and torques. Next, a NMPC controller was created for each vehicle, then a simulation of both vehicles with NMPC was done for joint-tracking, and finally for the differential game. Lastly the human-in-the-loop was added to the NMPC of the fixed-wing, and then to the differential game between the fixed-wing and the RUAV. The results show that a NMPC controller is effective at handling dynamic models and aggressive changes in trajectory while still accounting for the physical constraints imposed. The differential game used provided the pursuit-evader scenario desired, where it was possible to see various interactions between vehicles. Finally, the human-in-theloop was integrated with the fixed-wing model. |
publishDate |
2023 |
dc.date.none.fl_str_mv |
2023-07-18T13:27:58Z 2023-05 2023-05-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10362/155443 |
url |
http://hdl.handle.net/10362/155443 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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