Backstepping controller for attitude control of a quadrotor UAV

Detalhes bibliográficos
Ano de defesa: 2015
Autor(a) principal: Joana D'arc Dias Costa
Orientador(a): Não Informado pela instituição
Banca de defesa: Não Informado pela instituição
Tipo de documento: Dissertação
Tipo de acesso: Acesso aberto
Idioma: eng
Instituição de defesa: Instituto Tecnológico de Aeronáutica
Programa de Pós-Graduação: Não Informado pela instituição
Departamento: Não Informado pela instituição
País: Não Informado pela instituição
Palavras-chave em Português:
Aeronave não-tripulada
Controle de atitude
Funções de Liapunov
Método de Monte Carlo
Controle de aeronaves
Engenharia aeronáutica
Link de acesso: http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=3313
Resumo: Multirotors Unmanned Aerial Vehicles (UAV), specially quadrotors, have been attracting large interest from the academy and the industry due to factors such as simplified mechanics, low cost, high maneuverability, vertical take-off and landing (VTOL) and wide variety of applications (fire fighting, surveillance, filming etc.). This work deals with the attitude control problem for a quadrotor UAV. In order to solve the problem, a backstepping attitude controller that guarantees the asymptotic stability of the system was designed using quaternion as attitude parametrization. The result was a control law similar to a P-D law with an additional nonlinear term in order to compensate the nonlinear term from the attitude dynamics. Simulations were made to validate the attitude control law achieved as well as experiments with an equipment similar to a quadrotor, but mounted on a three degree of freedom pivot joint that enables only the rotational motion, the Quanser 3D Hover. Additionally, the system was simulated with 6 degrees of freedom (3 translational and 3 rotational) and a P-D controller with constraints on the total thrust and on the inclination angle was used for the position control and to provide the desired attitude for the attitude controller. Propeller dynamics and perturbations acting on the quadrotor were modelled to obtain a more realistic result. Several Monte Carlo simulations were made to assess the mean effect of these random perturbations, and the results were effective for a way point trajectory.
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spelling Backstepping controller for attitude control of a quadrotor UAVAeronave não-tripuladaControle de atitudeFunções de LiapunovMétodo de Monte CarloControle de aeronavesEngenharia aeronáuticaMultirotors Unmanned Aerial Vehicles (UAV), specially quadrotors, have been attracting large interest from the academy and the industry due to factors such as simplified mechanics, low cost, high maneuverability, vertical take-off and landing (VTOL) and wide variety of applications (fire fighting, surveillance, filming etc.). This work deals with the attitude control problem for a quadrotor UAV. In order to solve the problem, a backstepping attitude controller that guarantees the asymptotic stability of the system was designed using quaternion as attitude parametrization. The result was a control law similar to a P-D law with an additional nonlinear term in order to compensate the nonlinear term from the attitude dynamics. Simulations were made to validate the attitude control law achieved as well as experiments with an equipment similar to a quadrotor, but mounted on a three degree of freedom pivot joint that enables only the rotational motion, the Quanser 3D Hover. Additionally, the system was simulated with 6 degrees of freedom (3 translational and 3 rotational) and a P-D controller with constraints on the total thrust and on the inclination angle was used for the position control and to provide the desired attitude for the attitude controller. Propeller dynamics and perturbations acting on the quadrotor were modelled to obtain a more realistic result. Several Monte Carlo simulations were made to assess the mean effect of these random perturbations, and the results were effective for a way point trajectory.Instituto Tecnológico de AeronáuticaDavi Antônio dos SantosJoana D'arc Dias Costa2015-08-31info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesishttp://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=3313reponame:Biblioteca Digital de Teses e Dissertações do ITAinstname:Instituto Tecnológico de Aeronáuticainstacron:ITAenginfo:eu-repo/semantics/openAccessapplication/pdf2019-02-02T14:05:10Zoai:agregador.ibict.br.BDTD_ITA:oai:ita.br:3313http://oai.bdtd.ibict.br/requestopendoar:null2020-05-28 19:41:40.448Biblioteca Digital de Teses e Dissertações do ITA - Instituto Tecnológico de Aeronáuticatrue
dc.title.none.fl_str_mv Backstepping controller for attitude control of a quadrotor UAV
title Backstepping controller for attitude control of a quadrotor UAV
spellingShingle Backstepping controller for attitude control of a quadrotor UAV
Joana D'arc Dias Costa
Aeronave não-tripulada
Controle de atitude
Funções de Liapunov
Método de Monte Carlo
Controle de aeronaves
Engenharia aeronáutica
title_short Backstepping controller for attitude control of a quadrotor UAV
title_full Backstepping controller for attitude control of a quadrotor UAV
title_fullStr Backstepping controller for attitude control of a quadrotor UAV
title_full_unstemmed Backstepping controller for attitude control of a quadrotor UAV
title_sort Backstepping controller for attitude control of a quadrotor UAV
author Joana D'arc Dias Costa
author_facet Joana D'arc Dias Costa
author_role author
dc.contributor.none.fl_str_mv Davi Antônio dos Santos
dc.contributor.author.fl_str_mv Joana D'arc Dias Costa
dc.subject.por.fl_str_mv Aeronave não-tripulada
Controle de atitude
Funções de Liapunov
Método de Monte Carlo
Controle de aeronaves
Engenharia aeronáutica
topic Aeronave não-tripulada
Controle de atitude
Funções de Liapunov
Método de Monte Carlo
Controle de aeronaves
Engenharia aeronáutica
dc.description.none.fl_txt_mv Multirotors Unmanned Aerial Vehicles (UAV), specially quadrotors, have been attracting large interest from the academy and the industry due to factors such as simplified mechanics, low cost, high maneuverability, vertical take-off and landing (VTOL) and wide variety of applications (fire fighting, surveillance, filming etc.). This work deals with the attitude control problem for a quadrotor UAV. In order to solve the problem, a backstepping attitude controller that guarantees the asymptotic stability of the system was designed using quaternion as attitude parametrization. The result was a control law similar to a P-D law with an additional nonlinear term in order to compensate the nonlinear term from the attitude dynamics. Simulations were made to validate the attitude control law achieved as well as experiments with an equipment similar to a quadrotor, but mounted on a three degree of freedom pivot joint that enables only the rotational motion, the Quanser 3D Hover. Additionally, the system was simulated with 6 degrees of freedom (3 translational and 3 rotational) and a P-D controller with constraints on the total thrust and on the inclination angle was used for the position control and to provide the desired attitude for the attitude controller. Propeller dynamics and perturbations acting on the quadrotor were modelled to obtain a more realistic result. Several Monte Carlo simulations were made to assess the mean effect of these random perturbations, and the results were effective for a way point trajectory.
description Multirotors Unmanned Aerial Vehicles (UAV), specially quadrotors, have been attracting large interest from the academy and the industry due to factors such as simplified mechanics, low cost, high maneuverability, vertical take-off and landing (VTOL) and wide variety of applications (fire fighting, surveillance, filming etc.). This work deals with the attitude control problem for a quadrotor UAV. In order to solve the problem, a backstepping attitude controller that guarantees the asymptotic stability of the system was designed using quaternion as attitude parametrization. The result was a control law similar to a P-D law with an additional nonlinear term in order to compensate the nonlinear term from the attitude dynamics. Simulations were made to validate the attitude control law achieved as well as experiments with an equipment similar to a quadrotor, but mounted on a three degree of freedom pivot joint that enables only the rotational motion, the Quanser 3D Hover. Additionally, the system was simulated with 6 degrees of freedom (3 translational and 3 rotational) and a P-D controller with constraints on the total thrust and on the inclination angle was used for the position control and to provide the desired attitude for the attitude controller. Propeller dynamics and perturbations acting on the quadrotor were modelled to obtain a more realistic result. Several Monte Carlo simulations were made to assess the mean effect of these random perturbations, and the results were effective for a way point trajectory.
publishDate 2015
dc.date.none.fl_str_mv 2015-08-31
dc.type.driver.fl_str_mv info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/masterThesis
status_str publishedVersion
format masterThesis
dc.identifier.uri.fl_str_mv http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=3313
url http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=3313
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Instituto Tecnológico de Aeronáutica
publisher.none.fl_str_mv Instituto Tecnológico de Aeronáutica
dc.source.none.fl_str_mv reponame:Biblioteca Digital de Teses e Dissertações do ITA
instname:Instituto Tecnológico de Aeronáutica
instacron:ITA
reponame_str Biblioteca Digital de Teses e Dissertações do ITA
collection Biblioteca Digital de Teses e Dissertações do ITA
instname_str Instituto Tecnológico de Aeronáutica
instacron_str ITA
institution ITA
repository.name.fl_str_mv Biblioteca Digital de Teses e Dissertações do ITA - Instituto Tecnológico de Aeronáutica
repository.mail.fl_str_mv
subject_por_txtF_mv Aeronave não-tripulada
Controle de atitude
Funções de Liapunov
Método de Monte Carlo
Controle de aeronaves
Engenharia aeronáutica
_version_ 1706805012300038144

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