LPV Control of a Quadrotor
This master thesis addresses the LPV control of a quadrotor system. The quadorotor model is first transformed to a LPV model respresentation starting from the nonlinear physical model. Then, using the LPV gain-scheduling control theory, several LPV controller schemes are designed. They are based on...
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| Tipo de documento: | dissertação |
| Data de publicação: | 2015 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositório: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglês |
| OAI Identifier: | oai:upcommons.upc.edu:2117/77560 |
| Acesso em linha: | https://hdl.handle.net/2117/77560 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Drone aircraft -- Automatic control Rotors Control theory Nonlinear systems Avions no tripulats -- Control automàtic Control, Teoria del Sistemes no lineals Àrees temàtiques de la UPC::Aeronàutica i espai Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Resumo: | This master thesis addresses the LPV control of a quadrotor system. The quadorotor model is first transformed to a LPV model respresentation starting from the nonlinear physical model. Then, using the LPV gain-scheduling control theory, several LPV controller schemes are designed. They are based on static state feedback control with or without reference model. Stability and performance will be established by means of LMIs. Finally, the implemented control solution will be tested in a quadorotor system in a simulation environment using the non-linear model. To assess the performances of those controllers, several scenarios have been simulated. |
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