Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Modeling, Control and Experimentation of a Variable Pitch Quadrotor
2013 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The aim of this thesis is to present a novel quaternion based control scheme for the attitude control problem of a quadrotor equipped with Variable Pitch Propellers. A quaternion is a hyper complex number of rank 4 that can be utilized to avoid the inherent geometrical singularity when representing rigid body dynamics with Euler angles or the complexity of having coupled differential equations with the Direction Cosine Matrix (DCM). In the presented approach the quadrotor's attitude model, Variable Pitch model and the proposed non-linear Proportional squared ($P^{2}$) control algorithm have been implemented in the quaternion space, without any transformations nor calculations in the Euler angle space nor the DCM space. Throughout the thesis, the merits of the proposed novel approach are being analyzed and discussed, while the efficiency of the suggested novel quaternion based controller and the use of Variable Pitch Propellers are being evaluated by extended simulation and experimental results.

Place, publisher, year, edition, pages
2013. , 51 p.
Keyword [en]
Technology
Keyword [sv]
Teknik, control, quadrotor, variable pitch propeller, quaternion, attitude problem
Identifiers
URN: urn:nbn:se:ltu:diva-47963Local ID: 573f3309-d71a-4284-b510-a369e5daaa65OAI: oai:DiVA.org:ltu-47963DiVA: diva2:1021300
Subject / course
Student thesis, at least 30 credits
Educational program
Engineering Physics and Electrical Engineering, master's level
Supervisors
Note
Validerat; 20130627 (global_studentproject_submitter)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

Open Access in DiVA

fulltext(1654 kB)119 downloads
File information
File name FULLTEXT02.pdfFile size 1654 kBChecksum SHA-512
3c4601bfd346ed1575dadbf817649b85b7f847f31242aa3522adad4e9482a08bbf2a9af8f459e115dc2e2af3c913ab51ad4cbfb79b70d848b16f2dedd1e6c55d
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Fresk, Emil

Search outside of DiVA

GoogleGoogle Scholar
Total: 119 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 158 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf