Now showing items 1-6 of 6

  • 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, ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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 ...