Nonlinear control strategies for quadrotors and CubeSats

This thesis is presented in two parts. In the first part, a fully nonlinear controller is developed for controlling the position and attitude of the Crazyflie quadrotor. In order to use this controller, a system identification is first performed in order to completely model the dynamics of the Crazyflie quadrotor. A proof of convergence is also given for this controller to show that the developed controller is globally exponentially stable. The controller is then implemented on hardware 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 with an actively controlled formation and the other with a passively controlled formation. Different controllers have been developed for these missions and the current technological bottlenecks in realizing these missions have been identified.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Aerospace Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Subramanian, Giri Prashanth

Contributors dc:contributor

• Chung, Soon-Jo

• Quadrotors
• Controls
• Nonlinear controls
• Quadrotor testbed
• Swarms
• CubeSat System Engineering
• CubeSat Reconfiguration
• J2-invariant relative orbits
• Formation flight

Statement dc:rights

• Copyright 2015 Giri Prashanth Subramanian

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/88078

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/88078