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Title: Design and Implementation of a Control System for a Quadrotor MAV
Authors: Bawek, Dean
Advisors: Chopra, Inderjit
Department/Program: Aerospace Engineering
Type: Thesis
Sponsors: Digital Repository at the University of Maryland
University of Maryland (College Park, Md.)
Subjects: Aerospace engineering
Keywords: LQR
Issue Date: 2012
Abstract: The quadrotor is a 200 g MAV with rapid-prototyped rotors that are driven by four brushless electric motors, capable of a collective thrust of around 400 g using an 11 V battery. The vehicle is compact with its largest dimension at 188 mm. Without any feedback control, the quadrotor is unstable. For flight stability, the vehicle incorporates a linear quadratic regulator to augment its dynamics for hover. The quadrotor's nonlinear dynamics are linearized about hover in order to be used in controller formulation. Feedback comes both directly from sensors and a Luenberger observer that computes the rotor velocities. A Simulink simulation uses hardware and software properties to serve as an environment for controller gain tuning prior to flight testing. The results from the simulation generate stabilizing control gains for the on-board attitude controller and for an off-board PC autopilot that uses the Vicon computer vision system for position feedback. Through the combined effort of the on-board and off-board controllers, the quadrotor successfully demonstrates stable hover in both nominal and disturbed conditions.
Appears in Collections:Aerospace Engineering Theses and Dissertations
UMD Theses and Dissertations

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