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Flight Control And Hardware Design Of Multi-Rotor Systems, Nathan M. Zimmerman
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 …
Observer Incorporated Neoclassical Controller Design: A Discrete Perspective, Winston Alexander Baker
Observer Incorporated Neoclassical Controller Design: A Discrete Perspective, Winston Alexander Baker
Master's Theses (2009 -)
Control theory has generally been divided into two categories, modern control and classical control. Modern control uses state feedback to alter the pole locations of a given system. Classical control uses pre-compensation to alter the zeroes of the system and uses output feedback to adjust the poles to bring stability to the system. The drawback is that the application of classical control techniques can be a lengthy, complicated and iterative design process and in the end, classical control techniques still do not give information about the state of the system. Neoclassical control combines classical control techniques with the state feedback …