Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 39 for “"Quadrotors"”.
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ADAPTIVE CONTROL DESIGN FOR QUADROTORS
Unmanned Aerial Vehicles (UAV) control has become a very important point of scientific study. The control design challenges of a UAV make it one of the most researched areas in modern control applications. This thesis specifically chooses the Quadrotor as the UAV platform. Considering the quadrotor …
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Nonlinear control strategies for quadrotors and CubeSats
… and a quadrotor testbed capable of flying 10-15 quadrotors simultaneously, is developed. In the second part of the thesis, a Systems Engineering study for formation flying CubeSats has been undertaken. Two different kinds of formation flying missions using 4-6 CubeSats have been developed, one …
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Improving Leader-Follower Formation Control Performance for Quadrotors
… some nonlinear terms were included in the quadrotors' dynamic model, and external disturbance and model parameter uncertainties were considered. Five different controllers were developed. The first and the second controllers, the nonlinear suboptimal H_infinity control technique and the …
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Piecewise Bézier curve trajectory generation and control for quadrotors
Quadrotors have the capability of being immensely useful vehicles to aid humans in labor intensive tasks. The critical challenge of using quadrotors inside homes is the efficient navigation of these vehicles in tight spaces while avoiding obstacles. Although methods exists to generate collision …
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Energy-saving Trajectory And Control Design For Quadrotors With Slung Payloads
Quadrotors have promising applications such as payload transportation, which can change the future of the package delivery industry. However, many challenges block the way of implementing payload transportation in reality. Slung payload vibrations and quadrotor's energy consumption are among the …
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Optimal Control of Multiple Quadrotors for Transporting a Cable Suspended Payload
… a cable suspended payload with single and two quadrotors based on optimised control techniques. The study utilised optimal controllers, such as the Linear Quadratic Regulator LQR, the Iterative based LQR (ILQR), the Model Predictive Control MPC and the dynamic game controller to solve tracking …
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An improved model-based observer for inertial navigation for quadrotors with low cost IMUs
… model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of reference---including along the z-axis of …
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FlightMARL: A Multi-Agent Reinforcement Learning Framework for Vision-Based Control of Autonomous Quadrotors
In this paper, we present FlightMARL, an extension of the Flightmare simulator that implements a modular multi-agent reinforcement learning engine capable of supporting an array of models and algorithms. We explore representation learning of various different models in this environment. We …
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Field oriented control of permanent magnet synchronous motor with third-harmonic injection pulse width modulation to reduce quadrotors’ speed ripples
The world’s commercial unmanned aerial vehicle (UAV) industry has witnessed unprecedented boom in recent years. Delighted with an ample supply of this excellent high-tech product, global consumers are paying more attention on UAVs. Civilian UAVs now vastly outnumber military ones, with the estimate …
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Agile load transportation systems using aerial robots
… transport using aerial robots, i.e., small scale quadrotors. First, detailed models of such transportation system are derived. These models include nonlinear models of a quadrotor, a model of a quadrotor carrying a fixed load and a model of a quadrotor carrying a suspended load. Second, the …
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Study and suppression of vibrations in rotary-wing Unmanned Aerial Vehicles
… on the study of vibrations of the so called quadrotors, which are formed by four rotors equispaced around a central structure. Due to the morphological characteristics of the quadrotors, they present high manoeuvrability and better payload than other rotary-wing UAV configurations, reason why …
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Open Loop System Identificaiton of a Micro Quadrotor Helicopter from Closed Loop Data
Quadrotors are a favorite platform amongst academic researchers. Yet there is limited work present on the identification of Linear Time Invariant (LTI) state space models for quadrotors. This thesis focuses on the development of a 70 gram quadrotor with a maximum dimension of less than 6 inches. An …
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Modeling, identification and control of a quad-rotor drone using low-resolution sensing
… derived from Kinemics and Dynamics of common quadrotors. The identification was conducted thoroughly including its low-resolution on-board sensors, such as rate gyro and altimeter. Control targets are composed of two stages --- local references following and global position tracking. PID …
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Towards MAV Autonomous Flight: A Modeling and Control Approach
… aircrafts: the DraganFlyer and the Hummingbird quadrotors, which have been hardware-modified in order to perform experimental autonomous flying. Furthermore, a first-ever approach for modeling commercial micro coaxial mechanism is presented using a flying-toy called the Micro-mosquito.
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A model of quadrotor UAV power consumption and its performance across a range of flight conditions
… power models that have been used both for quadrotors and general rotorcraft, it can be expressed as the sum of four terms---induced, parasitic, profile, and climb power---that depend on estimates of the aerodynamic forces and moments acting on the quadrotor. The model's accuracy was …
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Lossless convexification of quadrotor motion planning with experiments
… control constraints, such as that of the quadrotors. The second contribution of this thesis is to include two separate methods to generate path constraints that capture non-convex position constraints. Using the convexied optimal trajectory generation problem with physical and path …
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Real-time control architecture for a multi UAV test bed
… test bed formed by three AscTec Hummingbird mini quadrotors. The reliable and reconfigurable architecture presented here has a FPGA-based embedded system as main controller. Under the implemented control system, different practical applications have been performed in the MARHES Lab at the …
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Analysis of a quadrotor in forward flight
In general, quadrotors are designed to be stabilized about hover conditions. This allows the dynamics of the vehicle to be linearized about a single equilibrium point. Additionally, aerodynamic effects can be neglected leaving only rigid body dynamics to be modeled. While this formulation works …
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A control architecture and human interface for agile, reconfigurable micro aerial vehicle formations
… vector field, to controlling a group of quadrotors in a Virtual Rigid Body (VRB) framework, to balancing the effect between the human control and autonomy for collision avoidance, and to fast on-line distributed collision avoidance with Buffered Voronoi Cells (BVC). In the vector field …
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