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Event-Triggered Attitude Stabilization of a Quadcopter
KTH, School of Electrical Engineering (EES). KTH.ORCID iD: 0000-0003-3252-715X
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

There are many possible ways to perform the attitude control of a quadcopter and, recently, the subject of event-triggered control has become relevant in the scientic community. This thesis deals with the analysis and implementation of a saturating attitude controller for a quadcopter system, together with the derivation of an event-triggering rule to work with it. Two distinct rules are presented, one that ensures the stability of the closed loop system, the other, a linearised version that does not. The way those were derived consists in the use of a Lyapunov based approach. The stability of the system when under these rules was veried experimentally.

Abstract [sv]

Det finns många sätt att utföra attitydreglering för en quadcopter och nyligen har s.k. händelsebaserad reglering blivit relevant inom det vetenskapliga reglertekniska områden. Det här examensarbetet behandlar analys och implementation av ett saturerande attitydreglersystem för ett drönarsystem, tillsammans med en härledning av en händelseutlöst regel att arbeta med. Två distinkta regler presenteras: en som säkerställer stabilitet för den slutna slingan och en linjäriserad version som inte gör det. Reglerna är framtagna genom ett Lyapunov-baserat angreppssätt. Systemets stabilitet under dessa regler bekräftas experimentellt.

Place, publisher, year, edition, pages
2014. , 58 p.
Keyword [en]
Control, Event-triggered, quadcopter, drone, attitude
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-200692OAI: oai:DiVA.org:kth-200692DiVA: diva2:1070305
Educational program
Master of Science - Systems, Control and Robotics
Supervisors
Available from: 2017-09-14 Created: 2017-02-01 Last updated: 2017-09-14Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf