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Automatic Control of a Quadrotor in the Smart Building
KTH, School of Engineering Sciences (SCI).
KTH, School of Engineering Sciences (SCI).
2014 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

In this project, we investigate automatic control of a quadrotor UAV and discuss its possible applications in the Smart Building. The purpose is to construct a control algorithm for stable quadrotor flight and explore the use of UAV in a smart home. We derive the equations of motion for a quadrotor, construct a model and devise a control strategy to keep it stable in the air. The strategy will be to use cascaded controllers for position and attitude. Simulations are performed and the controllers are then tested in practice. In the simulations, we use lead lag controllers as they provide easy loop shaping and good performance. In the practical implementation, we instead chose to implement PID controllers, due to their wide use in industry, easy implementation and ease of tuning. The end result is a stable loop with acceptable performance in terms of positional control. A simple waypoint system is implemented as well, which is key for trajectory planning and enables the vehicle to perform various tasks.

Place, publisher, year, edition, pages
2014. , 16 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-153913OAI: oai:DiVA.org:kth-153913DiVA: diva2:753869
Educational program
Master of Science in Engineering -Engineering Physics
Available from: 2014-10-09 Created: 2014-10-09 Last updated: 2014-10-09Bibliographically approved

Open Access in DiVA

Daniel Sjöholm & Martin Biel kandidatexam(1704 kB)518 downloads
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Type fulltextMimetype application/pdf

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Electrical Engineering, Electronic Engineering, Information Engineering

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CiteExportLink to record
Permanent link

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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
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  • asciidoc
  • rtf