Show simple item record

dc.contributor.advisorChopra, Inderjiten_US
dc.contributor.authorGupta, Nitin Kumaren_US
dc.date.accessioned2007-06-22T05:30:28Z
dc.date.available2007-06-22T05:30:28Z
dc.date.issued2006-12-20
dc.identifier.urihttp://hdl.handle.net/1903/6653
dc.description.abstractA novel ground based test-bed for closed loop flight control of MAVs is developed. The emphasis is on easy re-programability, measurement of internal states of the vehicle, fail-safe features, and modular design so that control algorithms can be efficiently evaluated on a real MAV in flight. The sensors transmit data to the ground station using a wireless link. All processing is carried out on the ground station, and the final commands are up-linked back to the MAV. Starting with the early experiments on yaw-control, this report presents the results for the 3-DOF attitude control experiments done on an MAV using this test-bed. Three independent PID control loops are used to implement automation. Ziegler-Nichols method is used for tuning the PID controller gains. Simple proportional controllers in pitch and roll are shown to give good performance. The roll and pitch attitudes are maintained within $\pm$0.1 radians by the controller.en_US
dc.format.extent29729558 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.titleDevelopment of a Test-bed for Closed-loop MAV Flight Controlen_US
dc.typeThesisen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.contributor.departmentAerospace Engineeringen_US
dc.subject.pqcontrolledEngineering, Aerospaceen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record