Multi-Agent Testbed development, modelling and control of Quadrotor UAVs
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Quadrotor Unmanned Aerial Vehicles (UAVs) have been an area of great interest for academic research at several universities around the world. They provide an interesting platform for research into various control related areas such as modelling, testing dierent control strategies or cooperative behaviour and possible real-world applications within search-and-rescue, trac surveillance and many other areas with the potential to improve everyday life. In this thesis, the process of designing and implementing a testbed that allows for practical multi-agent control related experiments with Quadrotor UAVs is described. The testbed consists of a centralized controller PC, a positioning system for determining the quadrotors position in space and a bi-directional wireless link for communicating with the quadrotors. The controller PC software in LabVIEW and the various interfaces to the subsystems in C, C # and under TinyOS are implemented considering the main goal to have a robust platform that allows for quick testing and debugging of dierent control algorithms. To be able to perform simulation and understand the dynamic behaviour of the quadrotors, a mathematical model is derived. The model is then used to design PID and LQR controllers that allow the quadrotors to track a position in space. The functionality of the testbed, the performance of the controllers and the validity of the model is successfully evaluated by ight-testing the quadrotors using the testbed and verifying that simulation results are in accordance with the real-world results that are obtained.
Place, publisher, year, edition, pages
2012. , 41 p.
EES Examensarbete / Master Thesis, XR-EE-RT 2012:019
Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering
IdentifiersURN: urn:nbn:se:kth:diva-102159OAI: oai:DiVA.org:kth-102159DiVA: diva2:551115
Master of Science in Engineering - Electrical Engineering
Dimarogonas, Dimos V.