Hossain, Mohammed Raju (2010) Dynamics modeling and control of a Quad-rotor helicopter. Masters thesis, Memorial University of Newfoundland.
- Accepted Version
Available under License - The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission.
Unmanned Aerial Vehicles (UAVs) have become a promising field of research due to the enormous potential for both military and civilian applications. This thesis focuses on increasing the autonomy of one type of rotary wing UAV; namely a Quad-rotor Helicopter. -- In this work a detailed mathematical model was introduced for simulation of the dynamics and control of this system. The dynamic model evolved from a simple set of equations, valid only for hovering, to a complex mathematical model with more realistic aerodynamic factors like thrust factor and drag factor. A simple yet precise tool was developed to measure these aerodynamic factors. An intelligent vision based control technique has been proposed for the critical, near-hovering flight of the vehicle. Finally, a platform was developed and a PD controller was implemented with inertial sensors in order to prepare the platform for implementing the vision-based control in the future.
|Item Type:||Thesis (Masters)|
|Additional Information:||Includes bibliographical references (leaves 108-115).|
|Department(s):||Engineering and Applied Science, Faculty of|
|Library of Congress Subject Heading:||Drone aircraft--Computer simulation; Drone aircraft--Control systems; Quadrotor helicopters--Automatic control; Quadrotor helicopters--Computer simulation|
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