Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
In this thesis, a Takagi-Sugeno model for an Attitude/Altitude model of a quadrotor system is developed. With this Takagi-Sugeno model, a gain-scheduling state-feedback controller, as well as a state observer, have been designed for altitude and orientation control. Then, two different control schem...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2016 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/98894 |
| Acceso en línea: | https://hdl.handle.net/2117/98894 |
| Access Level: | acceso abierto |
| Palabra clave: | Drone aircraft -- Automatic control Avions no tripulats -- Control automàtic Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Sumario: | In this thesis, a Takagi-Sugeno model for an Attitude/Altitude model of a quadrotor system is developed. With this Takagi-Sugeno model, a gain-scheduling state-feedback controller, as well as a state observer, have been designed for altitude and orientation control. Then, two different control schemes are analyzed in order to have a good performance on tracking changing references in the Attitude/Altitude control. Then an Integral Backstepping controller has been designed for the control of horizontal position. The stability of the whole control system has been studied, and finally the models and controllers have been tested in a simulation environment. |
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