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Development Of A Quadrotor Testbed For Control And Sensor Development, Abhishek Bhargava
Development Of A Quadrotor Testbed For Control And Sensor Development, Abhishek Bhargava
All Theses
A quadrotor is an under actuated unmanned aerial vehicle (UAV) which uses thrust from four rotors to provide six degrees of freedom. This thesis outlines the development of a general purpose test bed that can be used for sensor and control algorithm development. The system includes the means to simulate a proposed controller and then a hardware in the loop implementation using the same software. The test bed was assembled and verified with a linear controller for both attitude and position control using feedback from an IMU (Inertial measurement Unit) and a Global Position System (GPS) sensor.
The linear controller …