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Quadrotor control: implementation,cooperation and human-vehicleinteraction
KTH, School of Electrical Engineering (EES), Automatic Control.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis two cooperative control strategies are designed for a team of two indoorquadrotors and some human-vehicle interaction tasks are developed. First, theprocess of assembling a quadrotor from parts is undertaken. Then, a controller for asingle quadrotor is designed, and implemented using LabView software. Matlab softwareis used to generate the desired trajectories. A LabView software module actsas a supervisor, allowing the coordination between the two vehicles. Two types ofcooperative control are developed: position-based, and position/velocity-based. Bothcontrol strategies allow the quadrotors to follow a reference trajectory while maintaininga specified formation. Furthermore, some tasks are developed where one quadrotorresponds to online stimuli given by a human via a user-friendly interface.

Place, publisher, year, edition, pages
2015. , 58 p.
EES Examensarbete / Master Thesis
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-175379OAI: diva2:860645
Available from: 2015-10-13 Created: 2015-10-13 Last updated: 2015-10-13Bibliographically approved

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Electrical Engineering, Electronic Engineering, Information Engineering

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