Dp 437 en

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Modeling, Identification and Control of a Quadrotor Aircraft[edit]

Author: De Lellis Costa


Diplomové práce 2011

Download thesis in PDF


The present work refers to the mathematical modeling, experimental identifcation and control design of a small unmanned indoors quadrotor aircraft, at low translational speeds around the hovering condition, where the aerodynamic forces on the airframe are disregarded. A Kalman filter is implemented for state estimation and noise filtering. Linear control techniques such as PID, LQ as well as modern robust mixed-sensitivity H_infinity and mu-synthesis with DK-iteration are employed and compared with each other in terms of ight trajectory reference tracking and parametric and model uncertainty.


Dp 2011 de lellis costa.pdf