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Design, Fabrication and Hovering Control of a Quadrotor Aerial Vehicle

Kamali, Hossein | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45883 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Meghdari, Ali; Nejat Pishkenari, Hossein
  7. Abstract:
  8. One of the most significant aerial vehicles which has been subject of study of so many engineers and students is quadrotor or quadcopter, which is a cross sectional configuration of motors and propellers. This aerial robot is controlled through slight differences between the angular velocities of the four motors, and robot dynamics is completely nonlinear, thus sophisticated control algorithms are needed. The aim of this project consists of design, fabrication and control of a quadrotor capable of stable hovering. First, some preliminary decisions about general charachteristics of the robot were made. According to these decisions, other mechanical parts were designed and fabricated. Then, electronic parts were bought and set up. These parts consist of motors, electronic speed controllers, inertial sensors, battery, microcontroller and remote radio-control. Finally, all parts were assembled and conneted correctly and the robot get ready for test. Parallelly, quadrotor dynamics was modeled and simulated using Lagrange equations method. A Kalman filter was also designed and implemented on the system to give acceptable feedbacks from orientation of the robot. A PID controller and also a novel fuzzy method called fuzzy-Pade controller were both implemented on the robot, and test results were reported
  9. Keywords:
  10. Lagrangian Method ; Fuzzy-Pade Method ; Inertial Sensor ; Quadrotor Robot Control ; Proportional-Integral-Derivative (PID)Controller

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