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dc.contributor.advisorKristiansen, Raymond
dc.contributor.authorKristiansen, Stig Espen
dc.date.accessioned2016-11-22T12:20:48Z
dc.date.available2016-11-22T12:20:48Z
dc.date.issued2016-11-03
dc.description.abstractIn this thesis a mathematical quadrotor model based on cascade modeling theory, using a passivity-based control solution is derived and presented. The rotation and translation cascades are rst decoupled, modeled mathematically and simulated separately to test individual control solutions and stability, followed by total system modeling and simulations to verify the control solutions and stability of the total system. Both the decoupled systems and the total system are able to track both xed positions and positions that change with time, such as the circle, helix and waypoint tracking. The simulation gures for the spiral trajectory tracking shows a growth in position error as the radius of the circle increases, indicating that the control solutions are struggling with increase in acceleration (jerk ), but is believed to be recti ed by additional compensation terms. Overall the system performs well, and can be presumed stable.en_US
dc.identifier.urihttps://hdl.handle.net/10037/9978
dc.language.isonoben_US
dc.publisherUiT Norges arktiske universiteten_US
dc.publisherUiT The Arctic University of Norwayen_US
dc.rights.accessRightsopenAccessen_US
dc.rights.holderCopyright 2016 The Author(s)
dc.subject.courseIDSHO6300
dc.subjectTeknologien_US
dc.subject500en_US
dc.subjectVDP::Teknologi: 500en_US
dc.subjectVDP::Matematikk og Naturvitenskap: 400::Matematikk: 410en_US
dc.subjectVDP::Technology: 500en_US
dc.subjectVDP::Mathematics and natural science: 400::Mathematics: 410en_US
dc.titleQuadrotor modeling and controlen_US
dc.typeMaster thesisen_US
dc.typeMastergradsoppgaveen_US


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