Modelling and control of a customized drone with gimbal-attachment
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/128621
Tipus de documentProjecte Final de Màster Oficial
Data2019-01-17
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
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 dependent coefficient form tocapture the UAV’s nonlinearities obtained from a series of analyses and validated withthe motion capture system OptiTrackR©. To obtain the model, data is collected in testflights with manual control and used as a input for the system identification toolbox inMATLABR©. The nonlinear model predictive control law is derived by using a sequentialquadratic programming solver (CMSCGMRES) while accounting for input, output andstate constraints. The performance is shown through several representative flights withaggressive reference changes and minimum disturbances
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
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modelling-and-c ... with-gimbal-attachment.pdf | 7,801Mb | Visualitza/Obre |