Nonlinear Control and Observer Design for Unmanned Vehicle Systems

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The proposed research investigates a number of fundamental control problems which arise in Unmanned Vehicle Systems (UVSs). The research problems defined are described by inherently nonlinear dynamics and objectives are met by both applying and extending the theory of nonlinear control. Based on its governing dynamics, this broad theoretical area of research studies the analysis, prediction, and influence of system behaviour. Conventional solutions to the proposed problems have either no theoretical basis or rely on linear system approximations and methods. However, such approximations can destroy useful system structure and lead to lost insight and reduced performance relative to nonlinear methods which directly account for nonlinearity without approximation. The research objectives aim to provide mathematically well-founded performance benefits and are complemented with experimental validation on custom developed UVS test stands which the researcher has developed. The empirical aspect of the discovery is important to guide the development of nonlinear control theory and ensure its real-world relevance. Research which combines the benefits of cutting edge theory and experiment is important in increasing student interest and providing relevant training for industry and academe to maintain Canada's leadership in high technology. It is well known that UVSs are an active and challenging application area with numerous real civilian and military uses. For example, UVSs enable inspection of critical infrastructure or provide environmental monitoring in a uniquely cost effective, accurate, and safe manner. The proposed research aims to develop nonlinear control for improving UVS motion control and navigation system performance which is a crucial element for increased adoption of UVS technology.