Design and Implementation of a 6DOF Control System for an Autonomous Quadrocopter
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
This thesis is dedicated to design and implementation of a 6DOF control system for a quadrocopter. At the beginning of the work the quadrocopter was analyzed as a plant and physical effects with behavior of continuous /discrete elements were described. Based on the mathematical equations, continuous time invariant nonlinear mathematical model was designed. This mathematical model was linearized to create a 6DOF control system and validated thought experiments by test benches and a flying prototype of the quadrocopter. For the control system design a pole-placement approach was chosen and based on the linear validated model, with taking into account requirements to a settling time, an overshoot and a steady-state error, the control system was designed. Its behavior was checked in simulation and showed adequate results. Afterwards designed control system was implemented as a script and incorporated in a soft, developed inside ‘Aerospace Information Technology’ Department, University of Würzburg. Then series of experiments by test benches and the flying prototype were fulfilled. Based on comparing experimental and theoretical results a conclusion was made. At the end of the work advantages and drawbacks of the control system were discussed and suggestions for future work were declared.
Place, publisher, year, edition, pages
2013. , 91 p.
Technology, 6DOF Control System, Autonomous Quadrocopter
IdentifiersURN: urn:nbn:se:ltu:diva-51978Local ID: 9233fa4e-9f66-4957-8be9-07397ad6b447OAI: oai:DiVA.org:ltu-51978DiVA: diva2:1025344
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Montenegro, SergioEnmark, Anita
Validerat; 20131121 (global_studentproject_submitter)2016-10-042016-10-04Bibliographically approved