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...
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| 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 |
| Summary: | 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 |
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