dc.contributor.advisor Chopra, Inderjit en_US dc.contributor.author Gupta, Nitin Kumar en_US dc.date.accessioned 2007-06-22T05:30:28Z dc.date.available 2007-06-22T05:30:28Z dc.date.issued 2006-12-20 dc.identifier.uri http://hdl.handle.net/1903/6653 dc.description.abstract A 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.extent 29729558 bytes dc.format.mimetype application/pdf dc.language.iso en_US dc.title Development of a Test-bed for Closed-loop MAV Flight Control en_US dc.type Thesis en_US dc.contributor.publisher Digital Repository at the University of Maryland en_US dc.contributor.publisher University of Maryland (College Park, Md.) en_US dc.contributor.department Aerospace Engineering en_US dc.subject.pqcontrolled Engineering, Aerospace en_US
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