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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Detalles Bibliográficos
Autor: Fuerfanger, Bernhard
Tipo de recurso: tesis de maestría
Fecha de publicación:2019
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:catalán
OAI Identifier:oai:upcommons.upc.edu:2117/128621
Acceso en línea:https://hdl.handle.net/2117/128621
Access Level:acceso abierto
Palabra clave:Drone aircraft--Control systems
Avions no tripulats -- Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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spelling Modelling and control of a customized drone with gimbal-attachmentFuerfanger, BernhardDrone aircraft--Control systemsAvions no tripulats -- Control automàticÀrees temàtiques de la UPC::Informàtica::Automàtica i controlThis 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 disturbancesUniversitat Politècnica de CatalunyaGrau Saldes, Antoni20192019-01-1720192019-02-07master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/128621reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Cataláncatopen 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:2117/1286212026-05-27T15:37:01Z
dc.title.none.fl_str_mv Modelling and control of a customized drone with gimbal-attachment
title Modelling and control of a customized drone with gimbal-attachment
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_short 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_sort Modelling and control of a customized drone with gimbal-attachment
dc.creator.none.fl_str_mv Fuerfanger, Bernhard
author Fuerfanger, Bernhard
author_facet Fuerfanger, Bernhard
author_role author
dc.contributor.none.fl_str_mv Grau Saldes, Antoni
dc.subject.none.fl_str_mv Drone aircraft--Control systems
Avions no tripulats -- Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Drone aircraft--Control systems
Avions no tripulats -- Control automàtic
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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
publishDate 2019
dc.date.none.fl_str_mv 2019
2019-01-17
2019
2019-02-07
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/2117/128621
url https://hdl.handle.net/2117/128621
dc.language.none.fl_str_mv Catalán
cat
language_invalid_str_mv Catalán
language cat
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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