application of sliding mode theory to guidance and control of unmanned aerial vehicles

238 Pages·2017·13.52 MB·English

APPLICATION OF SLIDING MODE THEORY
TO GUIDANCE AND CONTROL OF
UNMANNED AERIAL VEHICLES
by
Syed Ussama Ali
PE113009
A thesis submitted to the
Department of Electrical Engineering
in partial fulfillment of the requirements for the degree of
DOCTOR OF PHILOSOPHY IN ELECTRICAL ENGINEERING
Faculty of Engineering
Capital University of Science & Technology
Islamabad
December 2016
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APPLICATION OF SLIDING MODE THEORY TO
GUIDANCE AND CONTROL OF UNMANNED
AERIAL VEHICLES
By
Syed Ussama Ali
(PE113009)
Dr. James F. Whidborne, Professor
School of Aerospace, Transport and Manufacturing
Cranfield University, Bedfordshire, United Kingdom
(Foreign Evaluator)
Dr. Asif Sabanovic, Professor
Faculty of Engineering and Natural Sciences
Sabanci University, Istanbul, Turkey
(Foreign Evaluator)
Dr. Raza Samar, Adjunct Professor
Department of Electrical Engineering
Capital University of Science and Technology
(Thesis Supervisor)
Dr. Noor Muhammad Khan, Professor
HoD, Department of Electrical Engineering
Capital University of Science and Technology
Dr. Imtiaz Ahmed Taj, Professor
Dean, Faculty of Engineering
Capital University of Science and Technology
DEPARTMENT OF ELECTRICAL ENGINEERING
FACULTY OF ENGINEERING
CAPITAL UNIVERSITY OF SCIENCE & TECHNOLOGY
DECEMBER 2016
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Copyright (cid:2)c 2016 by Syed Ussama Ali
All rights reserved. Reproduction in whole or in part in any form requires the
prior written permission of Syed Ussama Ali or designated representative.
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TO MY PARENTS
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ACKNOWLEDGMENT
First and foremost, I would like to thank Allah Subhana Wataallahu, WHO
granted me the courage and wisdom. The perseverance and determination granted
byAlmightyAllahhelpedmetobearthehardtimestoproducethisthesis. Thanks
and regards to the all glory of prophet MOHAMMAD (PBUH), for HIS enlight-
ening teachings, that makes me focused and humble.
Particularly, I would like to say thanks to my supervisor, Prof. Dr Raza Samar,
with whom it has been an honour and privilege to work. He allowed me tremen-
dous freedom in choosing my methods of research and has given me outstanding
guidance all along the way for that, I am grateful. I consider myself blessed that
I found mentors like Dr. Aamer Iqbqal Bhatti and Dr. Zamurad Shah. Their
wealth of ideas, clarity of thoughts, enthusiasm and energy have made my work-
ing with them, an exceptional experience. I cannot overstate my gratitude and
appreciation for their encouragement, support and cooperation.
I am also grateful to CASPR group members. Special thanks to my seniors Dr.
Yasir Awais Butt, Dr. Qudrat Khan, Dr. Ali Arshad, Dr. Imran Khan, whose
constructive comments and suggestions contributed in clarifying various concepts.
Also thanks to my colleagues, Mr. Amir Saeed, Mr. Raheel Anjum, Mr. Ahmed
Yar, Mr. Zeeshan Babar and Mr. Rizwan Azam.
For financial support, I would like to thank NESCOM for my PhD scholarship
with thanks to Mr. Nadeem Javed and his team for their help in financial and
administrative matters. I would also like to thank Dr. Khalid Munawar and Dr.
UbaidM.Al-SaggaffromKingAbdulazizUniversityfor6monthsscholarshipfrom
NSTIP strategic technologies program in the Kingdom of Saudi Arabia Project
No. (11-SPA2059-03).
I would also like to thank my parents, brothers, sister and my wife for their love,
motivation, support and their effective prayers during all these years of my PhD.
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DECLARATION
It is declared that this is an original piece of my own work, except where
otherwise acknowledged in text and references. This work has not been submitted
in any form for another degree or diploma at any university or other institution
for tertiary education and shall not be submitted by me in future for obtaining
any degree from this or any other University or Institution.
Syed Ussama Ali
PE113009
December 2016
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