Modeling, Identification and Control of a Quadrotor Aircraft
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
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.
Technology, aircraft Dynamics, mathematical Modeling of Dynamic Systems, system Identification, robust Control
IdentifiersURN: urn:nbn:se:ltu:diva-42251Local ID: 04b2b9af-ef33-43f9-a7c6-d4734ffb7af8OAI: oai:DiVA.org:ltu-42251DiVA: diva2:1015469
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Validerat; 20110906 (anonymous)2016-10-042016-10-04Bibliographically approved