With a focus on dynamics and control, an aquatic quadcopter with optical wireless communications is modeled, designed, constructed, and tested. Optical transmitter and receiver circuitry is designed and discussed. By utilization of the small angle assumption, the nonlinear dynamics of quadcopter movement are linearized around an equilibrium state of zero motion. The set of equations are then tentatively employed beyond limit of the small angle assumption, as this work represents an initial explorative study. Specific constraints are enforced on the thrust output of all four rotors to reduce the multiple-input multiple-output quadcopter dynamics to a set of single-input single-output systems. Root locus and step response plots are used to analyze the roll and pitch rotations of the quadcopter. Ultimately a proportional integral derivative based control system is designed to control the pitch and roll. The vehicle’s yaw rate is similarly studied to develop a proportional controller. The prototype is then implemented via an I2C network of Arduino microcontrollers and supporting hardware. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2016. / FAU Electronic Theses and Dissertations Collection
| Identifer | oai:union.ndltd.org:fau.edu/oai:fau.digital.flvc.org:fau_33923 |
| Contributors | Haller, Patterson (author), Abtahi, Homayoon (Thesis advisor), Florida Atlantic University (Degree grantor), College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering |
| Publisher | Florida Atlantic University |
| Source Sets | Florida Atlantic University |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation, Text |
| Format | 133 p., application/pdf |
| Rights | Copyright © is held by the author with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder., http://rightsstatements.org/vocab/InC/1.0/ |
Page generated in 0.002 seconds