Implementation of Simulink controller design on Iris+ quadrotor
Download
Author
Fum, Wei Zhong
Date
2015-09Advisor
Dobrokhodov, Vladimir
Second Reader
Toit, Noel Du
Metadata
Show full item recordAbstract
The thesis has two primary objectives. First, it develops a high-fidelity 6DOF flight dynamics model of a multi-copter UAV, and uses it for the design and implementation of the linear attitude controller onboard of an industrial quadcopter; both steps are implemented in Simulink. Second, it leverages the weakly joint efforts of MathWorks and the open-source community to build a software setup that enables rapid control software prototyping. This software architecture enables control system design and integration without the need for proficiency in embedded coding that typically utilizes high-level programming languages like C/C++. The higher impact of the dual objective is in advancing methods and tools of verifiable control system design and the embedded code generation that simplifies the V&V process. The 3DR Iris+ quadrotor, equipped with PX4 Pixhawk autopilot, is selected as the primary prototyping platform. The autopilot allows for the real-time execution of an application (attitude controller) that is auto-generated from MatLab/Simulink. This makes the Iris+ quadrotor an ideal platform for rapid flight control prototyping by using MathWork’s auto code generation capability. Ultimately, the developed setup represents a convenient research and development tool that natively bridges the gap between the safety-critical flight control science and flight experimentation technology by eliminating the error-prone manual coding of embedded microcontrollers.
Rights
Copyright is reserved by the copyright owner.Collections
Related items
Showing items related by title, author, creator and subject.
-
Active Position Control of a Shape Memory Alloy Wire Actuated Composite Beam
Song, G.; Kelly, B.; Agrawal, B.N. (2000);This paper presents the design and the experimental result of the active position control of a shape memory alloy (SMA) wire actuated composite beam. The composite beam has a honeycomb structure with SMA wires embedded in ... -
Active Position Control of a Shape Memory Alloy Wire Actuated Beam
Song, G.; Kelly, B.; Agrawal, B.N. (1999);This paper presents the design and experiment results of active position control of a shape memory alloy (SMA) wires actuated composite beam. The composite beam is honeycomb structured with shape memory alloy wires embedded ... -
A computer aided instruction tutorial for the Ramtek 9400 color graphics display system at the Naval Postgraduate School Monterey, California
Hayes, John Robert; Sherrard, John Carr (Monterey, California. Naval Postgraduate School, 1985-03);The objective of this thesis research was to create an embedded tutorial for the Ramtek 9400 Color Graphics Display System. An embedded tutorial is a self-paced Computer Aided Instruction (CAI) learning technique which ...