Date of Award
5-2007
Document Type
Thesis
Degree Name
Master of Science (MS)
Legacy Department
Electrical Engineering
Committee Chair/Advisor
Burg, Timothy
Abstract
This thesis describes two controllers designed specifically for a quadrotor helicopter unmanned aerial vehicle (UAV). A linear controller and a non-linear controller are discussed for use on the quadrotor helicopter using feedback that is obtained from microelectromechanical systems and GPS.
The linear controller is an orientation based PID controller that controls the angles of the quadrotor UAV. The controller was first simulated and the results displayed graphically using FlightGear. Experiments were conducted using this controller on a DraganFlyer X-Pro quadrotor helicopter to prove the proposed method used for closing the feedback loop.
The non-linear controller is developed using Lyapunov stability methods. The design goal for this controller is to add a two degree-of-freedom camera postioner to the quadrotor for a total of six degree-of-freedom camera actuator. The UAV will track three desired translational velocities and three angular velocities using only translational and rotational velocities for feedback.
Recommended Citation
Neff, Andrew, "Linear and Non-Linear Control of a Quadrotor UAV" (2007). All Theses. 88.
https://tigerprints.clemson.edu/all_theses/88