Now showing items 1-13 of 13

  • A robust predictive control for a Quadrotor with an Airsoft-marker 

    Moyano Díaz, Sergio (Universitat Politècnica de Catalunya, 2018-04-27)
    Master thesis
    Open Access
    This project is part of a more ambitious European project which consists on the autonomous inspection of petrol pipes. This inspection is done using a custom design drone equipped with a direction system, called gimbal, ...
  • Control d’un dron quadricòpter amb MatLab 

    Aliaga Rodriguez, Javier (Universitat Politècnica de Catalunya, 2016-04)
    Master thesis (pre-Bologna period)
    Open Access
    Covenantee:  Parrot
    L’objectiu d’aquest projecte és realitzar el control d’un dron quadricòpter (el model AR.Drone de l’empresa Parrot) fent servir el programa SimuLink integrat en la suite matemàtica MatLab, a fi que se li puguin programar ...
  • Controlling a Quadrotor with a Robotic Arm using Nonlinear Model Predictive Control 

    Chávez-Ferrer Marcos, Sebastián (Universitat Politècnica de Catalunya, 2015-01)
    Master thesis
    Open Access
    This thesis designs a method to control a quadrotor equipped with a robotic arm. The arm has been developed in Institut de Rob otica i Inform atica Industrial (CSIC-UPC), namely here IRI. During the project, an algorithm ...
  • Estudi i aplicació de tècniques de control robust a la navegació d’un quadrotor 

    Pérez Martínez, Irene (Universitat Politècnica de Catalunya, 2018-01-10)
    Bachelor thesis
    Open Access
    En aquest estudi es parteix d’un treball ja realitzat amb un vehicle aeri no tripulat o Dron quadrotor [9] governat per la seva sensòrica de posició, velocitat, acceleracio´ i ca`mara de vídeo, i programat amb eines com ...
  • Estudi per a la fusió de dades de posició i actitud en un multirotor AscTec Hummingbird 

    Capella Roca, Pol (Universitat Politècnica de Catalunya, 2015-10)
    Bachelor thesis
    Open Access
    Estudi dels protocols de comunicació de dispositius GPS convencionalsEstudi del software de control del Hummingbird, apartat de lectura de sensorsIntegració del MB100 i modificació del software si convéEstudi del software ...
  • Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach 

    Ruiz Paz, Diego (Universitat Politècnica de Catalunya, 2016-06-08)
    Master thesis
    Open Access
    In this thesis, a Takagi-Sugeno model for an Attitude/Altitude model of a quadrotor system is developed. With this Takagi-Sugeno model, a gain-scheduling state-feedback controller, as well as a state observer, have been ...
  • Icing detection in unmanned aerial vehicles with longitudinal motion using an LPV unknown input observer 

    Rotondo, Damiano; Cristofaros, A; Johansen, T; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Open Access
    This paper proposes a linear parameter varying (LPV) unknown input observer for the diagnosis of actuator faults and icing in unmanned aerial vehicles (UAVs). The accretion of ice layers on wings and control surfaces ...
  • LPV Control of a Quadrotor 

    Torren Larroya, Abel (Universitat Politècnica de Catalunya, 2015-03)
    Master thesis
    Open Access
    This master thesis addresses the LPV control of a quadrotor system. The quadorotor model is first transformed to a LPV model respresentation starting from the nonlinear physical model. Then, using the LPV gain-scheduling ...
  • Modeling and identification of a quadrotor using LPV techniques 

    Torren Larroya, Abel (Universitat Politècnica de Catalunya, 2014-07-15)
    Master thesis
    Open Access
    The aim of this project is to modelize a LPV model and to compare different identification methods. In order to accomplish that, first of all a white box model of the quadrotor has been provided. This model has been used ...
  • Modelling and control of a customized drone with gimbal-attachment 

    Fuerfanger, Bernhard (Universitat Politècnica de Catalunya, 2019-01-17)
    Master thesis
    Open Access
    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 ...
  • Modelling and control of a quadrotor 

    Martín Alay, Àlex (Universitat Politècnica de Catalunya / Zhejiang University, 2013)
    Master thesis (pre-Bologna period)
    Restricted access - author's decision
    The aim of this project is to model and control a quadrotor. The project starts introducing the quadrotor and its parts. After that, the project provides the modelling of the dynamics of the quadrotor using the Lagrange-Euler ...
  • Nonlinear Model Predictive Control of a Quadrotor 

    Melgarejo Hernández, Emilio (Universitat Politècnica de Catalunya, 2016-09-05)
    Master thesis
    Open Access
    One of the most important features of a quadrotor in order to properly work, generally in some sort of path tracking, is to have a suitable control. This thesis will approach the problem of controlling a quadrotor applying ...
  • Real-time video stabilization without phantom movements for micro aerial vehicles 

    Aguilar Castillo, Wilbert Geovanny; Angulo Bahón, Cecilio (2014-09-22)
    Article
    Open Access
    In recent times, micro aerial vehicles (MAVs) are becoming popular for several applications as rescue, surveillance, mapping, etc. Undesired motion between consecutive frames is a problem in a video recorded by MAVs. There ...