Event-Triggered Attitude Stabilization of a Quadcopter
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
There are many possible ways to perform the attitude control of a quadcopter and, recently, the subject of event-triggered control has become relevant in the scientic community. This thesis deals with the analysis and implementation of a saturating attitude controller for a quadcopter system, together with the derivation of an event-triggering rule to work with it. Two distinct rules are presented, one that ensures the stability of the closed loop system, the other, a linearised version that does not. The way those were derived consists in the use of a Lyapunov based approach. The stability of the system when under these rules was veried experimentally.
Place, publisher, year, edition, pages
Non-linear control; Attitude stabilization; Event-triggering; Quadcopter
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-147200OAI: oai:DiVA.org:kth-147200DiVA: diva2:728452
Master of Science - Systems, Control and Robotics
Dimarogonas, Dimos V.