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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Detalles Bibliográficos
Autor: Ruiz Paz, Diego
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
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spelling Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno ApproachRuiz Paz, DiegoDrone aircraft -- Automatic controlAvions no tripulats -- Control automàticÀrees temàtiques de la UPC::Informàtica::Automàtica i controlIn 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.Universitat Politècnica de CatalunyaPuig Cayuela, Vicenç20162016-06-0820172017-01-09master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/98894reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/988942026-05-27T15:37:01Z
dc.title.none.fl_str_mv Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
title Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
spellingShingle Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
Ruiz Paz, Diego
Drone aircraft -- Automatic control
Avions no tripulats -- Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
title_full Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
title_fullStr Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
title_full_unstemmed Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
title_sort Gain-scheduling Control of a Quadrotor using the Takagi-Sugeno Approach
dc.creator.none.fl_str_mv Ruiz Paz, Diego
author Ruiz Paz, Diego
author_facet Ruiz Paz, Diego
author_role author
dc.contributor.none.fl_str_mv Puig Cayuela, Vicenç
dc.subject.none.fl_str_mv Drone aircraft -- Automatic control
Avions no tripulats -- Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Drone aircraft -- Automatic control
Avions no tripulats -- Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description 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.
publishDate 2016
dc.date.none.fl_str_mv 2016
2016-06-08
2017
2017-01-09
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/98894
url https://hdl.handle.net/2117/98894
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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