Path tracking control for an autonomous four rotor mini-helicopter

dc.contributor.advisorRamirez-Serrano, Alejandro
dc.contributor.authorAguilar Rosas, Erick Angel
dc.date.accessioned2017-12-18T21:22:42Z
dc.date.available2017-12-18T21:22:42Z
dc.date.issued2007
dc.descriptionBibliography: p. 126-134en
dc.description.abstractThis work presents a path tracking methodology developed for a four rotor mini­helicopter, also called X4-flyer or quadrotor. Although previous work has successfully, to some degree, achieved trajectory tracking with similar UAVs (Unmanned Aerial Ve­hicles) moving at relatively low speeds and over short distances, the proposed method­ology described in this thesis works for vehicles moving at low and high speeds. The methodology combines linear and fuzzy control that enables the quadrotor to fly in the presence of disturbances and can be used with any pose (attitude) controller previously developed by other researchers. In this thesis, it is assumed that the path that the vehicle will follow is given by a set of waypoints provided by the user. The proposed methodology comprises an attitude, a position, and a straight-line path controller. These controllers combine classic and intelligent control schemes which enable the vehicle to move under nominal ( without disturbances) and unexpected sce­narios (with wind gusts). Classic control techniques are used for cases when the vehicle is hovering or close to its intended hovering position (e.g., close to the target position) while fuzzy logic is employed for situations where the difference between the vehicle's current position and its goal is greater than a pre-specified amount. Thus, fuzzy logic is used during the vehicle's displacement ( travel) while classic control is mainly used for hovering. So, the switching between these two control schemes is dynamic, based on the state of the vehicle. The proposed methodology has been designed for path tracking in the horizontal plane (xy) and simulated in 3D. Complex curved paths are broken into straight-line segments that represent the desired path, to certain degree, based on user require­ments, the task and the desired precision of the vehicle's motion. Straight-line and complex path simulation studies are used as proof of concept to show how the method­ology reacts to diverse scenarios and different disturbances. Simulation results are used to show the performance of the proposed methodology compared with previously developed control mechanisms.
dc.format.extentxxiv, 145 leaves : ill. ; 30 cm.en
dc.identifier.citationAguilar Rosas, E. A. (2007). Path tracking control for an autonomous four rotor mini-helicopter (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/1159en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/1159
dc.identifier.urihttp://hdl.handle.net/1880/102160
dc.language.isoeng
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.titlePath tracking control for an autonomous four rotor mini-helicopter
dc.typemaster thesis
thesis.degree.disciplineMechanical and Manufacturing Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
ucalgary.thesis.accessionTheses Collection 58.002:Box 1696 520492213
ucalgary.thesis.notesUARCen
ucalgary.thesis.uarcreleaseyen
Files
Original bundle
Now showing 1 - 1 of 1
Loading...
Thumbnail Image
Name:
thesis_Aguilar_Rosas_2007.pdf
Size:
53.62 MB
Format:
Adobe Portable Document Format
Description:
Thesis
Collections