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An Embedded Nonlinear Control Implementation for a Hovering Small Unmanned Aerial System

Althaus, Joseph H.
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1275530221

Abstract Details

2010, Master of Science (MS), Ohio University, Electrical Engineering (Engineering and Technology).
This thesis presents the design, development, and experimental verification of an embedded vehicle controller applied to a hovering small unmanned aerial system dubbed the UFO. The effort demonstrated the feasibility of implementation of advanced nonlinear controller designs in embedded hardware to achieve increased system performance. Furthermore, it was shown that the controller implementation was not penalized due to size, weight, and power build-up typically associated with vehicles in this class. Performance was verified experimentally through simulation case studies that subjected the vehicle and embedded controller to various real-world considerations. Finally, justification of approach occurred through analysis of the experimental results.
J. Jim Zhu (Advisor)
173 p.
Electrical Engineering; Engineering
VTOL aircraft; embedded systems; nonlinear control; flight controller; trajectory linearization

Recommended Citations

Citations

  • Althaus, J. H. (2010). An Embedded Nonlinear Control Implementation for a Hovering Small Unmanned Aerial System [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1275530221

    APA Style (7th edition)

  • Althaus, Joseph. An Embedded Nonlinear Control Implementation for a Hovering Small Unmanned Aerial System. 2010. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1275530221.

    MLA Style (8th edition)

  • Althaus, Joseph. "An Embedded Nonlinear Control Implementation for a Hovering Small Unmanned Aerial System." Master's thesis, Ohio University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1275530221

    Chicago Manual of Style (17th edition)

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This open access ETD is published by Ohio University and OhioLINK.