Modeling and Control of a Quad-rotor Unmanned Aerial Vehicle at Hovering Position
| dc.contributor.advisor | Lebsework Negash (PhD) | |
| dc.contributor.author | Tesfaye, Ruth | |
| dc.date.accessioned | 2018-07-09T11:44:53Z | |
| dc.date.accessioned | 2023-11-04T15:14:36Z | |
| dc.date.available | 2018-07-09T11:44:53Z | |
| dc.date.available | 2023-11-04T15:14:36Z | |
| dc.date.issued | 2012-12 | |
| dc.description.abstract | This thesis titled Modeling and Control of a Quad-rotor Unmanned Aerial vehicle at hovering Position by Ruth Tesfaye presents the study of modeling and control of quad-rotor Unmanned Aerial vehicle (UAV) characteristics that could be used for any of its application. Quad-rotor UAVs consist of two pairs of counter rotating rotors placed at the end of a cross configuration; symmetrical body about the center of gravity that coincides with the origin of the body frame of reference. The Newton-Euler formulation has been used to derive the defining equations of motion of the system at hovering position i.e. the six degree-of-freedom. Based on the verified model, control strategies were developed using linear PID controller and an LQR controller. The PID controller was adopted as a reference control law from the work of A.ouladi [1]. A numerical simulation was then conducted using MATLABĀ® SimulinkĀ®. First, the derived model was simulated to verify the behavior of the quad-rotor for model verification, and then a second simulation was conducted to determine the effectiveness of the developed control law. The results and the interpretations of this study are then presented and discussed on their respective areas. | en_US |
| dc.identifier.uri | http://etd.aau.edu.et/handle/123456789/7351 | |
| dc.language.iso | en | en_US |
| dc.publisher | Addis Ababa University | en_US |
| dc.subject | Quad-Rotor | en_US |
| dc.subject | PID Controller | en_US |
| dc.subject | LQR Controller | en_US |
| dc.subject | Hovering Position | en_US |
| dc.subject | Equilibrium Point | en_US |
| dc.title | Modeling and Control of a Quad-rotor Unmanned Aerial Vehicle at Hovering Position | en_US |
| dc.type | Thesis | en_US |