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Control of Quadcopter UAV by Nonlinear Feedback

Ye, Haoquan
http://rave.ohiolink.edu/etdc/view?acc_num=case1523544168630815

Abstract Details

2018, Master of Sciences, Case Western Reserve University, EECS - System and Control Engineering.
A quadcopter, also called a quadrotor helicopter or quadrotor, is a popular small-scale UAV that has been used for a variety of applications such as photography, monitoring, surveillance and inspection, etc. It needs reliable hardware and control systems to guarantee its performance in various missions. Therefore, developing effective control algorithms is vital for the performance and applications of quadcopters. In this thesis, a nonlinear control method is proposed and a smooth state feedback controller is designed to achieve attitude control and stabilization of the quadcopter. First, we study the dynamics of a quadcopter and establish a mathematical model in state space. Then, with the help of a transformation that puts the quadcopter model into a nonlinear system in the normal form, we design a smooth state feedback controller by taking advantage of the nonlinearity of the quadcopter, combined with the techniques of adding an integrator and feedback linearization. Finally, MATLAB simulations are conducted to validate the effectiveness of the proposed nonlinear controller. The simulations results demonstrate that the new control scheme has a satisfactory dynamic performance and certain robustness against wind disturbance.
Wei Lin (Advisor)
Kenneth Loparo (Committee Member)
Vira Chankong (Committee Member)
46 p.
Electrical Engineering; Engineering; Robotics
Quadcopter, Nonlinear Control, Adding an Integrator, Feedback Linearization, Dynamic Model

Recommended Citations

Citations

  • Ye, H. (2018). Control of Quadcopter UAV by Nonlinear Feedback [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1523544168630815

    APA Style (7th edition)

  • Ye, Haoquan. Control of Quadcopter UAV by Nonlinear Feedback. 2018. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1523544168630815.

    MLA Style (8th edition)

  • Ye, Haoquan. "Control of Quadcopter UAV by Nonlinear Feedback." Master's thesis, Case Western Reserve University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=case1523544168630815

    Chicago Manual of Style (17th edition)

case1523544168630815
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This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.