طراحی کنترلر غیرخطی

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شرح پروژه

طراحی کنترل مدلغزشی یا فیدبک خطی ساز برای سیستم پهپاد ارائه شده در مقاله 

I am looking for an experienced freelancer to work on a Non-linear Control System for an Omnidirectional Multi-Rotor Drone. The control system should be either a Sliding Mode Control or Feedback Linearization Control System, with no real sensors involved as this is a simulated project. The level of precision required is moderate. The project will involve creating the control system in Simulink following an octo-rotor configuration in the attached paper and running appropriate simulations to verify its functionality. I have created a linear control system using PID control by following the control design of the paper however I am looking to develop a non-linear control system preferably using feedback linearization or sliding mode control. The control system that I have designed has been attached below in relevant Simulink Files as well as a Matlab file that contains the necessary parameters for the system (moments of inertia, mass, PID gains). I have inputted a simple reference signal in order for the simulation to follow a circular path as testing and the system is working with a slight steady state error. I'm looking to improve the accuracy of the control system by producing a non-linear control system and comparing the results of both the linear and non-linear control system. The successful candidate should have experience in developing multidimensional systems and have a good understanding of nonlinear control theory. The ideal candidate should also have a strong background in mathematics and computer programming.

If possible my deadline would be this Friday and I would like to discuss the budget based on the level of complexity of the control system designed in Simulink

You can have a look at the linear controller that I have already designed in the Simulink file attached. The project is using quaternions to represent the attitude and I am hoping for a complexity of roughly the same as the linear controller

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