Search for dissertations about: "Quadrotor"

Found 2 swedish dissertations containing the word Quadrotor.

  1. 1. Towards Aerial Robotic Workers

    Author : Emil Fresk; Luleå tekniska universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Information technology - Automatic control; Aerial Robotic Worker; UAV; Multirotor; Quadrotor; Estimation; Quaternion; Inertial Navigation; Informationsteknik - Reglerteknik; Reglerteknik; Control Engineering;

    Abstract : The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. READ MORE

  2. 2. Modeling and Control of Air-based Actuated Robots

    Author : Andreas Papadimitriou; George Nikolakopoulos; Matteo Fumagalli; Luleå tekniska universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

    Abstract : The aim of this thesis is to advance and increase the quality of the field of maintenance and exploration with the use of air-based robotic platforms. The fields that will be addressed are focusing on: a) Identification of adhesion system of climbing robots, b) the control of adhesion level and motion of climbing robots, c) the path planning based on constraints posed from platforms’ mobility characteristics and sensor requirements and d) The attitude control of a morphing Micro Aerial Vehicle (MAV) during in-flight structural re-configurations. READ MORE