Adaptive Sliding Mode Control Design for Quadrotor Position and Attitude Tracking in Desert Locust Management
| dc.contributor.advisor | Biniyam Ayalew | |
| dc.contributor.author | Bethel Lemma | |
| dc.date.accessioned | 2026-06-20T15:27:00Z | |
| dc.date.available | 2026-06-20T15:27:00Z | |
| dc.date.issued | 2026-03 | |
| dc.description.abstract | With the ongoing expansion and modernization of the East African railway infrastructure, ensuring seamless transportation is crucial for the network's efficiency and success. However, studies carried out on interoperability in East Africa are hardly seen specifically, lacks equivalent engineering analysis in the East African context. Additionally, instead of building railways that match the regional networks, railway infrastructure projects are driven by the preferences and funding of foreign suppliers. For that reason, this thesis aims to assess the current state of railway interoperability in East Africa using the Weight Sum multicriteria decision-making model, which exhibited that the region significantly lags behind the 2007 regional railway master plan targets, indicating poor interoperability across East Africa. Subsequently, to guide the verdict of stakeholders by evaluating the impact of the rolling stock subsystem on interoperability, Buckley FUZZY Analytical Hierarchy Process (F-AHP) multicriteria decision-making model is used. Consequently, the parameter criteria with physical barriers having 58% higher impact, followed by safety, technical conversion, and operational disruption. For the main parameters like track gauge %, axle load 18%, wheel-rail interface 10%, and the like are ranked accordingly. From all parameters listed, the axle load, an engineering analysis was conducted to assess the mechanical compatibility using static structural simulation with ANSYS Workbench, which demonstrated operating the Ethiopian-Djibouti railway wheel (capacity of 25t) on the Tanzania-Zambia Railway track (design capacity 20t). The material change used to represent the TAZARA rail track is much softer than EDR; therefore, the results show that, as load varies by 20%, stress varies by 42.58%, indicating higher stress with increased load. Deformation exhibits the same pattern, at 43.07% indicate that the rolling stock subsystem parameters have their own contribution. Therefore, strengthening subsystem coordination, harmonizing axle load standards, and considering parameter-wise can improve connectivity. It is recommended that East African railway authorities analyze at a more engineering level and consider an overall compatibility check to promote safe, seamless, and sustainable cross-border railway operations. | |
| dc.identifier.uri | https://etd.aau.edu.et/handle/123456789/8235 | |
| dc.language.iso | en | |
| dc.publisher | Addis Ababa University | |
| dc.subject | Interoperability | |
| dc.subject | Rolling Stock | |
| dc.subject | East Africa | |
| dc.subject | axle load variation | |
| dc.title | Adaptive Sliding Mode Control Design for Quadrotor Position and Attitude Tracking in Desert Locust Management | |
| dc.type | Thesis |