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Design and control of quadrotors samir bouabdallah phd thesis application to autonomous flying. Bouabdallah, Samir. Format BibTeX View Download MARC View Download MARCXML View Download DublinCore View Download EndNote View Download NLM View Download RefWorks View Download RIS View Download, samir bouabdallah phd thesis.
This thesis is about modelling, design and control of Miniature Flying Robots MFR with a focus on Vertical Take-Off and Landing VTOL systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such systems. It then describes a design methodology for a miniature rotorcraft.
The methodology is subsequently applied to design an autonomous quadrotor named OS4. Based on the mathematical model, linear and nonlinear control techniques are used to design and simulate various controllers along this work.
The dynamic model and the simulator evolved from a simple set of equations, valid only for hovering, to a complex mathematical model with more realistic aerodynamic coefficients and sensor and actuator models. Two platforms were developed during this thesis, samir bouabdallah phd thesis. The first one is a quadrotor-like test-bench with off-board data processing and power supply. It was used to safely and easily test control strategies. The second one, OS4, is a highly integrated quadrotor with on-board data processing and power supply.
It has all the necessary sensors for samir bouabdallah phd thesis operation. Five different controllers were developed. The first one, based on Lyapunov theory, was applied for attitude control. The second and the third controllers are based on PID and LQ techniques.
These were compared for attitude control. The fourth and the fifth approaches use backstepping and sliding-mode concepts. They are applied to control attitude. Finally, backstepping is augmented with integral action and proposed as a single tool to design attitude, altitude and position controllers. This approach is validated through various flight experiments conducted on the OS4.
Title Design and control of quadrotors with application to autonomous flying. Author s Bouabdallah, Samir. Advisor s. Siegwart, Roland. Pagination Date Publisher Lausanne, EPFL. Quadrotor ; Dynamic Modelling ; Backstepping ; MAV. DOI Other identifier s urn: urn:nbn:ch:bel-epfl-thesis Laboratories LSA. View Download.
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