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Attitude Control of a Hexarotor
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This master's thesis has been on modeling, identification and control of a hexarotor system. It has been carried out on behalf of UAS Europe in Link\"{o}ping. A set of non-linear dynamic equations describing the motion of the hexarotor were derived. These equations were then implemented in Matlab/Simulink, which became a good simulation environment for further studies.

A decentralized control system using P-PD controllers was successfully implemented in both simulation and on a hexarotor platform. The non-linear simulation model and the hexarotor platform were then identified using black box identification between virtual controls and angular rates. The result from identification of the hexarotor platform was not bad at all, but left some room for improvements.

These linear models ware then used to tune the parameters of the inner PD controllers using a method called placement of dominant poles. This method worked well in simulation environment but unfortunately not as well on the real platform.

Place, publisher, year, edition, pages
2014. , 92 p.
Keyword [en]
Multirotor, Multicopter, Hexacopter, Hexarotor, Black-box identification, PID
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-109073ISRN: LiTH-ISY-EX--14/4779--SEOAI: oai:DiVA.org:liu-109073DiVA: diva2:736152
External cooperation
UAS Europe AB
Subject / course
Automatic Control
Supervisors
Examiners
Available from: 2014-08-14 Created: 2014-08-05 Last updated: 2014-08-18Bibliographically approved

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Automatic ControlThe Institute of Technology
Control Engineering

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • 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