Skip to Main Content
 

Global Search Box

 
 
 

ETD Abstract Container

Abstract Header

STABILIZATION OF QUADCOPTER BY NESTED SATURATION FEEDBACK AND CONTROABILITY ANALYSIS

Zhu, Sizhe
http://rave.ohiolink.edu/etdc/view?acc_num=case1654509442768418

Abstract Details

2022, Master of Engineering, Case Western Reserve University, EECS - System and Control Engineering.
Quadcopter, also known as a drone, rotorcraft, or quadrotor, is a small-scale UAV used for various applications like photography, inspection, etc. Its composition contains two parts: reliable hardware and an effective control algorithm. To maximize its performance, developing a reliable control algorithm is essential. Also, while the quadcopter is facing the propellers failure, a proper solution for maintaining its stability is necessary. In this thesis, the proposed controller is designed based on Lyapunov analysis using a nested saturation algorithm. First, the dynamic model of the four-rotor quadcopter is obtained via a Lagrange approach. Then the proposed controller is designed, and a global stability analysis of the closed-loop system is presented. Next, the MATLAB simulations show that the controller can autonomously perform flying experiments of taking off and hovering. In the second part, the periodic solutions and equilibria for the situations that quadcopter lost one and two (opposing) propellers are introduced.
Wei Lin (Advisor)
Kenneth Loparo (Committee Member)
Vira Chankong (Committee Member)
57 p.
Aerospace Engineering; Electrical Engineering; Experiments; Robotics; Systems Design; Systems Science
Quadcopter, UAV, Nested saturation feedback, Dynamic model, Propeller lost, Periodic solution, Equilibria

Recommended Citations

Citations

  • Zhu, S. (2022). STABILIZATION OF QUADCOPTER BY NESTED SATURATION FEEDBACK AND CONTROABILITY ANALYSIS [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1654509442768418

    APA Style (7th edition)

  • Zhu, Sizhe. STABILIZATION OF QUADCOPTER BY NESTED SATURATION FEEDBACK AND CONTROABILITY ANALYSIS. 2022. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1654509442768418.

    MLA Style (8th edition)

  • Zhu, Sizhe. "STABILIZATION OF QUADCOPTER BY NESTED SATURATION FEEDBACK AND CONTROABILITY ANALYSIS." Master's thesis, Case Western Reserve University, 2022. http://rave.ohiolink.edu/etdc/view?acc_num=case1654509442768418

    Chicago Manual of Style (17th edition)

case1654509442768418
324
© 2022, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.