國立虎尾科技大學 |

Multivariable control of a rolling spider drone.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Multivariable control of a rolling spider drone./
Author:	Lyu, Haifeng.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2017,
Description:	80 p.
Notes:	Source: Masters Abstracts International, Volume: 57-02.
Contained By:	Masters Abstracts International57-02(E).
Subject:	Electrical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10605555
ISBN:	9780355498493

Multivariable control of a rolling spider drone.
Lyu, Haifeng.

Multivariable control of a rolling spider drone. - Ann Arbor : ProQuest Dissertations & Theses, 2017 - 80 p.

Source: Masters Abstracts International, Volume: 57-02.

Thesis (M.S.)--University of Rhode Island, 2017.

The research and application of Unmanned Aerial Vehicles (UAVs) has been a hot topic recently. A UAV is dened as an aircraft which is designed not to carry a human pilot or operated with remote electronic input by the flight controller. In this thesis, the design of a control system for a quadcopter named Rolling Spider Drone is conducted. The thesis work presents the design of two kinds of controllers that can control the Drone to keep it balanced and track different kinds of input trajectories. The nonlinear mathematical model for the Drone is derived by the Newton-Euler method. The rotational subsystem and translational system are derived to describe the attitude and position motion of Drone. Techniques from linear control theory are employed to linearize the highly coupled and nonlinear quadcopter plant around equilibrium points and apply the linear feedback controller to stabilize the system. The controller is a digital tracking system that deploys LQR for system stability design. Fixed gain and adaptive gain scheduled controllers are developed and compared with different LQR weights. Step references and reference trajectories involving signicant variation for the yaw angle in the xy-plane and three-dimensional spaces are tracked in the simulation. The physical implementation and an output feedback controller are considered for future work.

ISBN: 9780355498493Subjects--Topical Terms:

596380
Electrical engineering.

Multivariable control of a rolling spider drone.
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500 $a Source: Masters Abstracts International, Volume: 57-02.
500 $a Includes supplementary digital materials.
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502 $a Thesis (M.S.)--University of Rhode Island, 2017.
520 $a The research and application of Unmanned Aerial Vehicles (UAVs) has been a hot topic recently. A UAV is dened as an aircraft which is designed not to carry a human pilot or operated with remote electronic input by the flight controller. In this thesis, the design of a control system for a quadcopter named Rolling Spider Drone is conducted. The thesis work presents the design of two kinds of controllers that can control the Drone to keep it balanced and track different kinds of input trajectories. The nonlinear mathematical model for the Drone is derived by the Newton-Euler method. The rotational subsystem and translational system are derived to describe the attitude and position motion of Drone. Techniques from linear control theory are employed to linearize the highly coupled and nonlinear quadcopter plant around equilibrium points and apply the linear feedback controller to stabilize the system. The controller is a digital tracking system that deploys LQR for system stability design. Fixed gain and adaptive gain scheduled controllers are developed and compared with different LQR weights. Step references and reference trajectories involving signicant variation for the yaw angle in the xy-plane and three-dimensional spaces are tracked in the simulation. The physical implementation and an output feedback controller are considered for future work.
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