This dissertation covers the process of modelling and subsequently developing a flight
dynamics controller for a quad–rotor unmanned aerial vehicle. It is a theoretical study
that focusses on the selection of a controller type by first analysing the problem on a
system level and then on a technical level. The craft is modelled using the Newton–
Euler model, accounting for multiple reference frames to account for the interpretation
of orientation as seen by on–board sensors. The quad–rotor model and selected controllers
are characterized and compared. The model is verified through simulation by
comparison to a validated model. A series of generic control loops are derived and
used as reference for the implementation of the controllers. A Simulator is developed
and used to do a comparative study of the various controller types and the control
approach. Finally a full simulation is done to demonstrate the interaction between the
controllers. / Thesis (MIng (Computer and Electronical Engineering))--North-West University, Potchefstroom Campus, 2012.
| Identifer | oai:union.ndltd.org:NWUBOLOKA1/oai:dspace.nwu.ac.za:10394/8068 |
| Date | January 2011 |
| Creators | Otto, Gustav |
| Publisher | North-West University |
| Source Sets | North-West University |
| Detected Language | English |
| Type | Thesis |
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