Development of a Quadcopter Test Environment and Research Platform

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dc.contributor.advisorMartins, Nuno Cen_US
dc.contributor.authorDe Prins, Christianen_US
dc.contributor.departmentElectrical Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2015-07-17T05:37:51Z
dc.date.available2015-07-17T05:37:51Z
dc.date.issued2015en_US
dc.description.abstractThis thesis first uses a model-based systems engineering approach to model, design, and implement a quadcopter test environment and research platform (TERP). TERP provides quadcopter state information, using a motion capture system, which can be used with custom feedback strategies to enable controlled flight. Next, it makes use of control theory to develop two controllers for quadcopter flight trajectory tracking: one based on linear quadratic regulation (LQR) and one based on model reference adaption. Simulations of both controllers are done in MATLAB using Simulink and seek to demonstrate the improved performance of the adaptive controller over the LQR controller in flight trajectory tracking with payload uncertainties. Flight tests with the LQR controller are then done to validate the TERP System.en_US
dc.identifierhttps://doi.org/10.13016/M23P8H
dc.identifier.urihttp://hdl.handle.net/1903/16815
dc.language.isoenen_US
dc.subject.pqcontrolledElectrical engineeringen_US
dc.subject.pquncontrolledcontrolen_US
dc.subject.pquncontrolledflighten_US
dc.subject.pquncontrolledmotion-captureen_US
dc.subject.pquncontrolledquadcopteren_US
dc.subject.pquncontrolledsystemen_US
dc.titleDevelopment of a Quadcopter Test Environment and Research Platformen_US
dc.typeThesisen_US

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