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Modeling, Control and Design of a Quadrotor Platform for Indoor Environments


Abstract Unmanned aerial vehicles (UAVs) are widely used in many applications because of their small size, great mobility and hover performance. This has been a consequence of the fast development of electronics, cheap lightweight flight controllers for accurate positioning and cameras. This thesis describes modeling, control and design of an oblique-cross-quadcopter platform for indoor-environments.

One contribution of the work was the design of a new printed-circuit-board (PCB) flight controller (called MARK3). Key features/capabilities are as follows:

(1) a Teensy 3.2 microcontroller with 168MHz overclock –used for communications, full-state estimation and inner-outer loop hierarchical rate-angle-speed-position control,

(2) an on-board MEMS ... (more)
Created Date 2018
Contributor Lu, Shi (Author) / Rodriguez, Armando A. (Advisor) / Tsakalis, Konstantinos (Committee member) / Si, Jennie (Committee member) / Arizona State University (Publisher)
Subject Electrical engineering / Aerospace engineering / Robotics / Indoor Tracking System / Quadrotor Actuator Dynamics / Quadrotor Hardware Design / Quadrotor kinematics / Quadrotor Model Linearization / Quadrotor Software Design
Type Masters Thesis
Extent 216 pages
Language English
Copyright
Note Masters Thesis Electrical Engineering 2018
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis