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Parameterized Control Methodology for a Modular Flying Robot
dc.contributor | Oung, Raymond |
dc.contributor.author | Picallo Cruz, Miguel |
dc.date.accessioned | 2012-10-18T18:23:18Z |
dc.date.issued | 2011 |
dc.identifier.uri | http://hdl.handle.net/2099.1/16302 |
dc.description.abstract | Designing a controller that is scalable, robust, and that can adapt to an arbitrary configuration is one of the major challenges of modular robotics. This paper takes one step forward in addressing this challenge by presenting a methodology for controlling any configuration of a modular flying robot, in this case the Distributed Flight Array (DFA). In this work we present a well-structured, parameterized controller and describe a method for optimizing its parameters in order to achieve the best possible performance subject to the system’s physical constraints. We then show how the configuration space of the DFA can be parameterized by only a few variables and propose a straightforward approach for mapping this configuration space to its control parameter space. The result is a single controller for any configuration of the DFA. |
dc.language.iso | eng |
dc.publisher | Universitat Politècnica de Catalunya |
dc.publisher | Eidegenössische Technische Hochschule Zürich |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject | Àrees temàtiques de la UPC::Aeronàutica i espai::Mecànica de vol::Estabilitat i control |
dc.subject.lcsh | Flying-machines -- Automatic control |
dc.subject.lcsh | Robotics |
dc.subject.lcsh | Flight control |
dc.subject.lcsh | Distributed parameter systems |
dc.title | Parameterized Control Methodology for a Modular Flying Robot |
dc.type | Master thesis (pre-Bologna period) |
dc.subject.lemac | Aeronaus -- Control automàtic |
dc.subject.lemac | Robòtica |
dc.subject.lemac | Control de vol |
dc.subject.lemac | Sistemes amb paràmetres distribuïts |
dc.rights.access | Restricted access - author's decision |
dc.date.lift | 10000-01-01 |
dc.audience.educationlevel | Estudis de primer/segon cicle |
dc.audience.mediator | Escola Tècnica Superior d'Enginyeria Industrial de Barcelona |
dc.provenance | Aquest document conté originàriament altre material i/o programari no inclòs en aquest lloc web |
dc.audience.degree | ENGINYERIA INDUSTRIAL (Pla 1994) |
dc.description.mobility | Outgoing |