Change search
ReferencesLink to record
Permanent link

Direct link
Towards Aerial Robotic Workers
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
2015 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. In the first part of this thesis the main contributions of the previous research approaches will be highlighted, while in the second part of the thesis the corresponding and in full detail articles will be presented.

Place, publisher, year, edition, pages
Luleå tekniska universitet, 2015. , 143 p.
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
Keyword [en]
Information technology - Automatic control
Keyword [sv]
Aerial Robotic Worker, UAV, Multirotor, Quadrotor, Estimation, Quaternion, Inertial Navigation, Informationsteknik - Reglerteknik
Research subject
Control Engineering
URN: urn:nbn:se:ltu:diva-26292Local ID: d8b72ab4-d4a4-46fb-aa62-418d8c25277fISBN: 978-91-7583-428-3ISBN: 978-91-7583-429-0 (PDF)OAI: diva2:999454
Godkänd; 2015; 20151009 (emifre); Nedanstående person kommer att hålla licentiatseminarium för avläggande av teknologie licentiatexamen. Namn: Emil Fresk Ämne: Reglerteknik/Control Engineering Uppsats: Towards Aerial Robotic Workers Examinator: Biträdande Professor George Nikolakopoulos, Institutionen för system- och rymdteknik, Avdelning: Signaler och system, Luleå tekniska universitet Diskutant: Associate Professor Dimos Dimarogonas, Automatic Control, School of Electrical Engineering, KTH, Stockholm Tid: Onsdag 11 november 2015 kl 10.00 Plats: A109, Luleå tekniska universitetAvailable from: 2016-09-30 Created: 2016-09-30Bibliographically approved

Open Access in DiVA

fulltext(1852 kB)0 downloads
File information
File name FULLTEXT01.pdfFile size 1852 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Fresk, Emil
By organisation
Signals and Systems

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

ReferencesLink to record
Permanent link

Direct link