Title:
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Modelling and control of a customized drone with gimbal-attachment
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Author:
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Fuerfanger, Bernhard
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Grau Saldes, Antoni |
Abstract:
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This Master thesis discusses how to obtaining a accurate nonlinear model of a cus-tomized quadcopter with gimbal attachment in order to control such with a nonlinearmodel predictive controller. This approach uses a state dependent coefficient form tocapture the UAV’s nonlinearities obtained from a series of analyses and validated withthe motion capture system OptiTrackR©. To obtain the model, data is collected in testflights with manual control and used as a input for the system identification toolbox inMATLABR©. The nonlinear model predictive control law is derived by using a sequentialquadratic programming solver (CMSCGMRES) while accounting for input, output andstate constraints. The performance is shown through several representative flights withaggressive reference changes and minimum disturbances |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Drone aircraft--Control systems -Avions no tripulats -- Control automàtic |
Rights:
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http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
Document type:
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Research/Master Thesis |
Published by:
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Universitat Politècnica de Catalunya
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