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This document provides an abstract for a project thesis about controlling quadcopter drones. It discusses that quadcopters are emerging unmanned aerial vehicles that are simple to construct and maintain, and can hover and takeoff/land vertically. The objective is to design a robust control method for quadcopters that can track reference attitudes and positions and reject external disturbances like wind. A novel PID controller with optimal disturbance rejection is proposed for the pitch and roll channels of a quadcopter. The controller will be tested on a Quanser Qball-X4 quadrotor and compared to its existing LQR-based PID controller through simulation and experimental testing.
This document provides an abstract for a project thesis about controlling quadcopter drones. It discusses that quadcopters are emerging unmanned aerial vehicles that are simple to construct and maintain, and can hover and takeoff/land vertically. The objective is to design a robust control method for quadcopters that can track reference attitudes and positions and reject external disturbances like wind. A novel PID controller with optimal disturbance rejection is proposed for the pitch and roll channels of a quadcopter. The controller will be tested on a Quanser Qball-X4 quadrotor and compared to its existing LQR-based PID controller through simulation and experimental testing.
This document provides an abstract for a project thesis about controlling quadcopter drones. It discusses that quadcopters are emerging unmanned aerial vehicles that are simple to construct and maintain, and can hover and takeoff/land vertically. The objective is to design a robust control method for quadcopters that can track reference attitudes and positions and reject external disturbances like wind. A novel PID controller with optimal disturbance rejection is proposed for the pitch and roll channels of a quadcopter. The controller will be tested on a Quanser Qball-X4 quadrotor and compared to its existing LQR-based PID controller through simulation and experimental testing.
Quadrotor helicopters or quadcopters are an emerging rotorcraft concept
for unmanned aerial vehicle (UAV) platforms due to the simplicity of their construction and maintenance, their ability to hover, and their vertical takeoff and landing (VTOL) capability. Due to the requirements of autonomous flight under different flight conditions without a pilot onboard, control of UAV flight is much more challenging compared with manned aerial vehicles since all operations have to be carried out by the automated flight control, navigation and guidance algorithms embedded on the onboard flight microcomputer/microcontroller or with limited interference by a ground pilot if needed. The objective of this project is to design and realize a robust control method that is effective, simple to implement for real-time applications that perform reference attitude and position tracking and also handle the external disturbances occurring due to wind, and other disturbances when the quadcopter is flown outdoors. A novel method of designing a Proportional-Integral-Derivative (PID) controller with optimal disturbance rejection for quadcopter pitch channel and roll channel is proposed. A Quanser Qball-X4 quadrotor equipped with necessary inertial navigation sensors and an onboard computer is used as a platform to validate our controller design. The proposed PID controller is compared with the Qball-X4s existing PID controller that is based on Linear-Quadratic-Regulator (LQR) through simulating the closed-loop system and experimentally testing it on an available quadcopter test bed. The results confirm the effectiveness of the proposed method.
Nonlinear Kalman Filter for Multi-Sensor Navigation of Unmanned Aerial Vehicles: Application to Guidance and Navigation of Unmanned Aerial Vehicles Flying in a Complex Environment