Tesfaye, Ruth (2012) Modeling and Control of a Quad-rotor Unmanned Aerial Vehicle at Hovering Position. Masters thesis, Addis Ababa University.
![[img]](http://thesisbank.jhia.ac.ke/style/images/fileicons/application_pdf.png) |
PDF (Modeling and Control of a Quad-rotor Unmanned Aerial Vehicle at Hovering Position)
Ruth Tesfaye.pdf - Accepted Version Restricted to Repository staff only Download (2MB) | Request a copy |
Abstract
This thesis titled Modeling and Control of a Quad-rotor Unmanned Aerial vehicle at hovering Position by Ruth Tesfaye presents the study of modeling and control of quad-rotor Unmanned Aerial vehicle (UAV) characteristics that could be used for any of its application. Quad-rotor UAVs consist of two pairs of counter rotating rotors placed at the end of a cross configuration; symmetrical body about the center of gravity that coincides with the origin of the body frame of reference. The Newton-Euler formulation has been used to derive the defining equations of motion of the system at hovering position i.e. the six degree-of-freedom. Based on the verified model, control strategies were developed using linear PID controller and an LQR controller. The PID controller was adopted as a reference control law from the work of A.ouladi [1]. A numerical simulation was then conducted using MATLAB® Simulink®. First, the derived model was simulated to verify the behavior of the quad-rotor for model verification, and then a second simulation was conducted to determine the effectiveness of the developed control law. The results and the interpretations of this study are then presented and discussed on their respective areas.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | Quad-rotor, PID controller, LQR controller, Hovering position, equilibrium Point |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > T Technology (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Divisions: | Africana |
| Depositing User: | Andriamparany Edilbert RANOARIVONY |
| Date Deposited: | 20 Nov 2018 09:51 |
| Last Modified: | 20 Nov 2018 09:51 |
| URI: | http://thesisbank.jhia.ac.ke/id/eprint/7568 |
Actions (login required)
 |
View Item |