GUIDANCE, NAVIGATION, AND CONTROL OF A QUADROTOR DRONE WITH PID CONTROLS
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Authors
DeBock, Sandra
Subjects
guidance
navigation
control
quadrotor drone
intercept
navigation
control
quadrotor drone
intercept
Advisors
Yun, Xiaoping
Date of Issue
2020-09
Date
Sep-20
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
The threat of drones in sensitive airspace is a growing issue. Drone detection currently focuses on security threats of undesired surveillance. In this thesis, we seek to determine whether a supervisory controller applied to a quadrotor drone will suffice as a feasible option for an autonomous drone. This is achieved by applying a proportional and derivative control law, programmed within MATLAB, to a pre-built simulation model and implemented on the Parrot Mambo Drone for experimental flights. The analysis is accomplished by comparing the performance and accuracy of the simulated trial flight, an experimental flight on the Parrot Mambo Drone with no altitude change, and an experimental flight with adjustments in all six degrees of freedom on the Parrot Mambo Drone. The results show that with a supervisory controller applied to a quadrotor drone, the drone can perform the desired tasks autonomously at a higher standard than without a supervisory controller applied. The proportional and derivative controls implemented on the Parrot Mabo Drone for the experimental flights have the best performance of the control law investigated.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering (ECE)
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release. distribution is unlimited
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States