dc.contributor |
Tomé Antunues, Guerreiro |
dc.contributor.author |
Valle Rodríguez, Jesús |
dc.date |
2017-04 |
dc.identifier.uri |
http://hdl.handle.net/2117/112404 |
dc.language.iso |
eng |
dc.publisher |
Universitat Politècnica de Catalunya |
dc.publisher |
Technische Universiteit Eindhoven |
dc.rights |
Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights |
info:eu-repo/semantics/openAccess |
dc.rights |
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject |
Àrees temàtiques de la UPC::Enginyeria electrònica |
dc.subject |
Electronics. |
dc.subject |
Enginyeria electrònica |
dc.title |
Implementation and comparison of linearization-based and backstepping controllers for quadcopters |
dc.type |
info:eu-repo/semantics/masterThesis |
dc.description.abstract |
In this work, two approaches to the control of a quadcopter are followed. The rst approach
resorts to linear quadratic control (LQR) techniques and is based on the linearization of the
quadcopter dynamics. Motivated by the fact that this linearization results in decoupled dynamics
for the longitudinal, lateral, height and yaw axis, the LQR controllers can be designed separately.
Moreover, the controllers for the longitudinal and lateral dynamics exploit the cascaded structure
of the model. The second approach resorts to non-linear control and exploits the fact that the full
non-linear model of the quadcopter also has a cascaded structure: the torque inputs control the
angles which in turn determine the forces which drive the position states. The approach is based
on a widely used non-linear control design technique for cascaded systems known as back-stepping.
Simulations of the two approaches are carried out and conclusions are drawn on the pros and cons
of each approach. |