Hovering Control of Quadrotor Vehicle

• Main Authors: Lin, Yu-Ting, 林昱廷
• Other Authors: Wu, Jenq-Lang
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/88559717849192473687

碩士 === 國立臺灣海洋大學 === 電機工程學系 === 103 === The goal of this thesis is to design a hovering controller, implemented by TMS320F28335 DSP chip, for a quadrotor vehicle. First, the Newton-Euler method is utilized to derive the quadrotor dynamics equations. Some experiments on the quadrotor vehicle are made to identify the model parameters. Based on the LQR control and the H∞ control methods, PID controllers are designed via a state augmentation approach. Finally, simulation and experiment results verify the proposed methods.