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Model Predictive Control in UAV Trajectory Planning and Gimbal Control
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics.
2014 (English)MasteroppgaveStudent thesis
Abstract [en]

In order to keep a target on the ground in the camera frame of a camera mounted with a pan-tilt gimbal to an unmanned aerial vehicle, three controllers that utilize the model predictive control methodology are developed. Through the process of simulating and hardware-in-the-loop testing the controllers, it is shown that one of the controllers can achieve satisfying control of both camera and vehicle. A new controller is proposed for future research which is assumed to achieve better control based on the findings of this thesis.

Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2014. , 140 p.
URN: urn:nbn:no:ntnu:diva-25924Local ID: ntnudaim:10720OAI: diva2:742178
Available from: 2014-08-31 Created: 2014-08-31 Last updated: 2014-08-31Bibliographically approved

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