This thesis work was undertaken to develop a new high level command for an unmanned aerial vehicle. The command is assumed to make the UAV follow a reference position that is placed on a certain distance to an object. At the same time the UAV is assumed to move more smoothly than the reference position and the UAV is allowed to follow the reference position with margin. The problem was solved with an automatic control system that takes the reference position as input signal and has a fictitious position as output signal. The fictitious position moves smoothly inside the margin and irregular behavior of the reference position is smoothed out by the automatic control system. The fictitious position is affected by strong feedback outside the margin and weak feedback inside the margin. This makes the fictitious position to stay inside the margin and moves smoothly inside the margin. The UAV follows the fictitious position instead of the reference position. In this way the UAV holds a certain distance to an object and at the same time moves smoother than the object.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:uu-156043 |
| Date | January 2011 |
| Creators | Söderman, Johan |
| Publisher | Uppsala universitet, Signaler och System |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | UPTEC F, 1401-5757 ; F11038 |
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