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Formation Flying for Quadcopters
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2015 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

The purpose of this project is to design a control law to control a groupof quadcopters ying in formation in a specied reference track.

To describe the movements of a quadcopter a mathematical model, basedon Newton-Euler equations, is formed and linearized into a linear statespacemodel. The control law is then designed by using feedback. Themodel was simulated in MATLABRO for dierent formations and numberof quadcopters, where the designed control law proved to be successfulin stabilizing the system. This report gives a basic investigation of formationying control where several assumptions and simplications havebeen made. For future work the model can be developed and more factorsbe taken into consideration.

Abstract [sv]

Syftet med detta projekt ar att utforma en styrlag for att styra engrupp av quadcoptrar till att yga i formation runt en given referensbana.

For att beskriva rorelserna hos en quadcopter anvands en matematiskmodell som bygger pa Newton-Eulers ekvationer. Dessa linjariseras foratt bilda en linjar tillstandsmodell. Styrlagen utformas sedan med hjalpav aterkoppling. Modellen simuleras i MATLABRO for olika formationeroch olika antal quadcoptrar, dar den utformade styrlagen visat sigvara framgangsrik i att stabilisera systemet. I denna rapport gors engrundlaggande undersokning av formationsygning dar era antagandenoch forenklingar har gjorts. For framtida studier kan modellen utvecklasoch er faktorer beaktas.

Place, publisher, year, edition, pages
2015. , 30 p.
National Category
URN: urn:nbn:se:kth:diva-173525OAI: diva2:853494
Available from: 2015-09-14 Created: 2015-09-14 Last updated: 2015-09-14Bibliographically approved

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