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Modelling and control of an unmanned aerial vehicle

Hanna, William (2014). Modelling and control of an unmanned aerial vehicle. Bachelor of Engineering (4th Year Project) Thesis, Charles Darwin University.

Document type: Thesis
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Author Hanna, William
Title Modelling and control of an unmanned aerial vehicle
Institution Charles Darwin University
Publication Date 2014
Thesis Type Bachelor of Engineering (4th Year Project)
Subjects 0906 - Electrical and Electronic Engineering
Abstract Technological advances in power electronics such as miniature electro-mechanical devices (MEMS) and small, powerful electric motors have enabled the development of small and lightweight devices. These devices include flying devices such as unmanned aerial vehicles (UAV’s). One such UAV is the open source quadcopter, the Crazyflie. The technological advances have made it possible to produce lightweight, low power yet accurate sensors which can be used with controllers that have a high processing power yet low power consumption. This has allowed for the development of complex control systems that can be implemented onboard the UAV. With this combination of high accuracy and light weight, realtime onboard guidance and autonomous flight are now practical. The Quadcopter is an inherently unstable system, having similar kinematics to an inverted pendulum. By creating an accurate mathematical model of a Quadcopter, control systems are implemented and tested without the possibility of damage. Once a theoretically stable control system is designed it can then be implemented in the firmware of the Quadcopter. By maximizing the accuracy of the mathematical model the resultant motion of the Quadcopter can be predicted. This prediction can then be used to increase the accuracy, stability and time response of the overall system. Experiments were conducted in order to obtain the physical characteristics of the Quadcopter. These parameters were then used to create a MATLAB model of the Quadcopter. This model was then used to design and implement various control systems. These control systems where then implemented in the Quadcopter and the performance compared to that of the mathematical model. The mathematical model was found to be capable of accurately predicting the behaviour of the Crazy Flie under conditions involving low external influences such at wind.
Keyword quadcopter
quadrotor
multi-rotor
Unmanned Aerial Vehicle (UAV)
control systems
mathematical modelling
crazyflie
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Created: Fri, 05 Sep 2014, 14:51:25 CST