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Thesis defences

PhD Oral Exam - Zhixiang Liu, Mechanical Engineering

Reliable and Safe Motion Control of Unmanned Vehicles


Date & time
Wednesday, October 26, 2016
9 a.m. – 12 p.m.
Cost

This event is free

Organization

School of Graduate Studies

Contact

Sharon Carey
514-848-2424, ext. 3802

Where

Engineering, Computer Science and Visual Arts Integrated Complex
1515 St. Catherine W.
Room EV 3.309

Wheel chair accessible

Yes

When studying for a doctoral degree (PhD), candidates submit a thesis that provides a critical review of the current state of knowledge of the thesis subject as well as the student’s own contributions to the subject. The distinguishing criterion of doctoral graduate research is a significant and original contribution to knowledge.

Once accepted, the candidate presents the thesis orally. This oral exam is open to the public.

Abstract

Unmanned vehicles (UVs) are playing an increasingly significant role in modern daily living. In the past decades, numerous commercial, scientific, and military communities across the world are developing fully autonomous UVs for a variety of applications, such as environmental monitoring and surveillance, post-disaster search and rescue, boarder patrol, natural resources exploration, and experimental platforms for new technologies verification. The excessive opportunities and threats that come along with these diverse applications have created a niche demand for UVs to extend their capabilities to perform more sophisticated and hazardous missions with greater autonomy, lower costs of development and operation, improved personnel safety and security, extended operational range (reliability) and precision, as well as increased flexibility in sophisticated environments including so-called dirty, dull, harsh, and dangerous missions.

In order to successfully and effectively execute missions and meet their corresponding performance criteria and overcome these ever-increasing challenges, greater autonomy together with more advanced reliable and safe motion control systems are required to offer the critical technologies for ensuring intelligent, safe, reliable, and efficient control of UVs in the presence of disturbances, actuator saturation, and even actuator faults, especially for practical applications. This thesis concentrates on the development of different reliable and safe motion control algorithms/ strategies applicable to UVs, in particular, unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A number of contributions pertaining to the fault detection and diagnosis (FDD), fault-tolerant control (FTC), disturbance estimation and compensation, and actuator saturation have been made in this thesis. In addition to control problems, this thesis also presents several guidance-related contributions, including adaptive observer-based line-of-sight (LOS) guidance law, time-varying lookahead distance scheme, piecewise path switching criterion for guiding a single UV, as well as a proportional-integral (PI) type of leader-follower formation guidance strategy for a group of UVs.


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