Engineering Commons^™

Flight Control And Hardware Design Of Multi-Rotor Systems, Nathan M. Zimmerman

Master's Theses (2009 -)

This thesis overviews crucial concepts involved in achieving quadcopter flight such as orientation estimation and control system implementation. This thesis also presents researchers with comprehensive hardware and software specifications for a quadcopter system. The primary application for this system would be for research with regards to the implementation of advance control techniques as well as data acquisition. Key constructs of this system include hardware software specifications for a flight controller, the radio system, and the sensorless brushless motor controllers. Firstly, the thesis starts by developing a reference frame and a mathematical model for the quadcotper system. Next, flight orientation estimation …