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Event-Triggered Attitude Stabilization of a Quadcopter
KTH, School of Electrical Engineering (EES), Automatic Control.
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.

Place, publisher, year, edition, pages
Keyword [en]
Non-linear control; Attitude stabilization; Event-triggering; Quadcopter
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-147200OAI: diva2:728452
Educational program
Master of Science - Systems, Control and Robotics
Available from: 2014-07-14 Created: 2014-06-24 Last updated: 2014-07-14Bibliographically approved

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XR-EE-RT_2014-011_Diogo Almeida(20298 kB)939 downloads
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