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Modeling, Identification and Control of a Quadrotor Aircraft
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The present work refers to the mathematical modeling, experimental identification and control design of a small unmanned indoors quadrotor aircraft, at low translational speeds around the hovering condition, where the aerodynamic forces on the airframe are disregarded. A Kalman filter is implemented for state estimation and noise filtering. Linear control techniques such as PID, LQ as well as modern robust mixed-sensitivity H∞ and μ-synthesis with DK-iteration are employed and compared with each other in terms of flight trajectory reference tracking and parametric and model uncertainty.

Place, publisher, year, edition, pages
2011. , 75 p.
Keyword [en]
Technology, aircraft Dynamics, mathematical Modeling of Dynamic Systems, system Identification, robust Control
Keyword [sv]
URN: urn:nbn:se:ltu:diva-42251Local ID: 04b2b9af-ef33-43f9-a7c6-d4734ffb7af8OAI: diva2:1015469
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20110906 (anonymous)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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