Modelling and control of a customized drone with gimbal-attachment
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 s...
| Author: | |
|---|---|
| Format: | Master's thesis |
| Publication date: | 2019 |
| Country: | España |
| Institution: | Universitat Politècnica de Catalunya (UPC) |
| Repository: | UPCommons. Portal del coneixement obert de la UPC |
| Language: | Catalan |
| OAI Identifier: | oai:upcommons.upc.edu:2117/128621 |
| Online Access: | https://hdl.handle.net/2117/128621 |
| Access Level: | Open access |
| Keyword: | Drone aircraft--Control systems Avions no tripulats -- Control automàtic Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| _version_ | 1878740432172613632 |
|---|---|
| author | Fuerfanger, Bernhard |
| author_browse | Fuerfanger, Bernhard |
| author_facet | Fuerfanger, Bernhard |
| author_role | author |
| collection | UPCommons. Portal del coneixement obert de la UPC |
| description | 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 |
| eu_rights_str_mv | openAccess |
| format | masterThesis |
| id | ES_d2f00a35f237628375e63b2b15e2bda5 |
| institution | Universitat Politècnica de Catalunya (UPC) |
| instname_str | Universitat Politècnica de Catalunya (UPC) |
| language | cat |
| network_acronym_str | ES |
| network_name_str | España |
| oai_identifier_str | oai:upcommons.upc.edu:2117/128621 |
| publishDate | 2019 |
| publishDateSort | 2019 |
| publisher | Universitat Politècnica de Catalunya |
| publisherStr | Universitat Politècnica de Catalunya |
| reponame_str | UPCommons. Portal del coneixement obert de la UPC |
| spelling | Modelling and control of a customized drone with gimbal-attachment Fuerfanger, Bernhard Drone aircraft--Control systems Avions no tripulats -- Control automàtic Àrees temàtiques de la UPC::Informàtica::Automàtica i control 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 Universitat Politècnica de Catalunya https://hdl.handle.net/2117/128621 |
| spellingShingle | Modelling and control of a customized drone with gimbal-attachment Fuerfanger, Bernhard Drone aircraft--Control systems Avions no tripulats -- Control automàtic Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| title | Modelling and control of a customized drone with gimbal-attachment |
| title_full | Modelling and control of a customized drone with gimbal-attachment |
| title_fullStr | Modelling and control of a customized drone with gimbal-attachment |
| title_full_unstemmed | Modelling and control of a customized drone with gimbal-attachment |
| title_short | Modelling and control of a customized drone with gimbal-attachment |
| title_sort | Modelling and control of a customized drone with gimbal-attachment |
| topic | Drone aircraft--Control systems Avions no tripulats -- Control automàtic Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| topic_facet | Drone aircraft--Control systems Avions no tripulats -- Control automàtic Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| url | https://hdl.handle.net/2117/128621 |