{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/92722"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/92722","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Application of a model-based nonlinear attitude control for quadrotor UAVs","abstract":"A quadrotor, a UAV equipped with four rotors, has an advantage of its maneuver, and has been used for various purposes. For this advantage, many researchers have studied a quadrotor's operation. An attitude control system for a quadrotor is one of the most important parts in order to improve the quadrotor's performance. This thesis developed a quadrotor testbed and applied a model-based nonlinear attitude control, originally designed for a space craft, to the quadrotor. In order to implement a nonlinear attitude control system, the dynamic model of the quadrotor is studied and the quadrotor's physical properties are characterized based on the model. Then, stability and agility of the nonlinear attitude control are validated by both simulations and experiments and its performance is compared with one of an conventional PID attitude control. Finally, this thesis proposes a computationally-e cient position estimator for the quadrotor's operation. The position estimator detects visual markers of an image from the camera, and computes the quadrotor's position. The position estimator was also evaluated by experiments.","abstract_html":"A quadrotor, a UAV equipped with four rotors, has an advantage of its maneuver, and has been used for various purposes. For this advantage, many researchers have studied a quadrotor's operation. An attitude control system for a quadrotor is one of the most important parts in order to improve the quadrotor's performance. This thesis developed a quadrotor testbed and applied a model-based nonlinear attitude control, originally designed for a space craft, to the quadrotor. In order to implement a nonlinear attitude control system, the dynamic model of the quadrotor is studied and the quadrotor's physical properties are characterized based on the model. Then, stability and agility of the nonlinear attitude control are validated by both simulations and experiments and its performance is compared with one of an conventional PID attitude control. Finally, this thesis proposes a computationally-e cient position estimator for the quadrotor's operation. The position estimator detects visual markers of an image from the camera, and computes the quadrotor's position. The position estimator was also evaluated by experiments.","abstract_has_math":false,"creators":["Seo, Mingyo"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Hutchinson, Seth A.","Chung, Soon-Jo"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2016,"date_issued":"2016-11-10T17:49:52Z","date_published":"2016-11-10T17:49:52Z","updated_at":"2026-07-22T22:26:35Z","subjects":["quadrotor","nonlinear","control","vision","dynamics","aerodynamics"],"languages":["en"],"rights":["Copyright 2016 Mingyo Seo"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/92722","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Hutchinson, Seth A.","Chung, Soon-Jo"]},{"key":"dc:creator","label":"Author","values":["Seo, Mingyo"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2016-11-10T17:49:52Z","2016-06-21","2016-08"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["quadrotor","nonlinear","control","vision","dynamics","aerodynamics"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2016 Mingyo Seo"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/92722"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["A quadrotor, a UAV equipped with four rotors, has an advantage of its maneuver, and has been used for various purposes. For this advantage, many researchers have studied a quadrotor's operation. An attitude control system for a quadrotor is one of the most important parts in order to improve the quadrotor's performance. This thesis developed a quadrotor testbed and applied a model-based nonlinear attitude control, originally designed for a space craft, to the quadrotor. In order to implement a nonlinear attitude control system, the dynamic model of the quadrotor is studied and the quadrotor's physical properties are characterized based on the model. Then, stability and agility of the nonlinear attitude control are validated by both simulations and experiments and its performance is compared with one of an conventional PID attitude control. Finally, this thesis proposes a computationally-e cient position estimator for the quadrotor's operation. The position estimator detects visual markers of an image from the camera, and computes the quadrotor's position. The position estimator was also evaluated by experiments.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2016-11-09 without embargo terms","The student, Mingyo Seo, accepted the attached license on 2016-06-20 at 19:40.","The student, Mingyo Seo, submitted this Thesis for approval on 2016-06-20 at 20:09.","This Thesis was approved for publication on 2016-06-21 at 11:06.","DSpace SAF Submission Ingestion Package generated from Vireo submission #9684 on 2016-11-09 at 10:21:17","Made available in DSpace on 2016-11-10T17:49:52Z (GMT). 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For this advantage, many researchers have studied a quadrotor's operation. An attitude control system for a quadrotor is one of the most important parts in order to improve the quadrotor's performance. This thesis developed a quadrotor testbed and applied a model-based nonlinear attitude control, originally designed for a space craft, to the quadrotor. In order to implement a nonlinear attitude control system, the dynamic model of the quadrotor is studied and the quadrotor's physical properties are characterized based on the model. Then, stability and agility of the nonlinear attitude control are validated by both simulations and experiments and its performance is compared with one of an conventional PID attitude control. Finally, this thesis proposes a computationally-e cient position estimator for the quadrotor's operation. The position estimator detects visual markers of an image from the camera, and computes the quadrotor's position. The position estimator was also evaluated by experiments.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2016-11-09 without embargo terms","The student, Mingyo Seo, accepted the attached license on 2016-06-20 at 19:40.","The student, Mingyo Seo, submitted this Thesis for approval on 2016-06-20 at 20:09.","This Thesis was approved for publication on 2016-06-21 at 11:06.","DSpace SAF Submission Ingestion Package generated from Vireo submission #9684 on 2016-11-09 at 10:21:17","Made available in DSpace on 2016-11-10T17:49:52Z (GMT). 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