Studies on nonlinear robust tracking control for a quadcopter system
This thesis presents the modeling and control of a quadcopter vehicle and the application of adaptive backstepping for attitude stabilization. This nonlinear technique has been chosen because they can explicitly address the specific nonlinear dynamics of the plant. The objectives are to derive, v...
| Autor Principal: | Saenz Acuña, Johnny Henry |
|---|---|
| Formato: | Tesis de Maestría |
| Idioma: | Inglés |
| Publicado: |
Pontificia Universidad Católica del Perú
2017
|
| Materias: | |
| Acceso en línea: |
http://tesis.pucp.edu.pe/repositorio/handle/123456789/9644 |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| Sumario: |
This thesis presents the modeling and control of a quadcopter vehicle and the application
of adaptive backstepping for attitude stabilization. This nonlinear technique has been
chosen because they can explicitly address the specific nonlinear dynamics of the plant.
The objectives are to derive, validate, simulate and implement this Backstepping controller
with a suitable quadcopter model. First a modeling process was conducted using
the Newton-Euler formalism together with Euler angles to parameterize the rotations.
The subsequently proposed approach consists on the nominal backstepping attitude
controller which regulates the pitch , roll and yaw rotations and the adaptive scheme
which estimates the external disturbances. Simulations showed satisfying performance
in attitude stabilization under uncertainties of up to 50% in inertia matrix and constant
external disturbances. Finally the controller is implemented in the real platform based
on Odroid single board computer and it showed an overall performance with room
to further improvements. Then this work proves that the proposed controller can be
successfully implemented. |
|---|