Trajectory Tracking Control Methods for an Autonomous Quadcopter

Ferenc, Török (2018) Trajectory Tracking Control Methods for an Autonomous Quadcopter. BSc thesis, BME.

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Abstract

The problem of designing a trajectory tracking controller for a quadcopter UAV is addressed in this document. The motivation is to use the quadrotors in an industrial environment, where reliable, fast and precise execution of the flight tasks is mandatory. The goal therefore is to develop a control architecture that is able to satisfy these strict requirements. The control architecture consists of a trajectory designer and a controller part. The thesis introduces two types of trajectory planning algorithms with three different trajectory tracking control methods. The performance of the controllers is analyzed via 3D simulation.

Item Type: Thesis (BSc)
Subjects: Q Science > QA Mathematics and Computer Science
Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Q Science > QA Mathematics and Computer Science > QA76 Computer software / programozás
Divisions: Systems and Control Lab
Depositing User: Ferenc Török
Date Deposited: 16 Jul 2019 12:49
Last Modified: 21 Jul 2019 13:31
URI: http://eprints.sztaki.hu/id/eprint/9675

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