Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle

• Main Authors: Hsiao-Chi Ho, 賀孝淇
• Other Authors: 連豊力
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/79941446992030672056

碩士 === 國立臺灣大學 === 電機工程學研究所 === 103 === As the unmanned aerial vehicles have been increasingly popular, designing a control scheme for unmanned aerial vehicle becomes a popular issues. In this thesis, the dynamic model of quadrotor is first derived. Based on the model, a controller which is a combination of baseline and adaptive controllers is presented for accomplishing the desired tasks. The baseline controller based on backstepping technique is the main controller for trajectory tracking; the adaptive controller is found to increase robustness to steady-state error using Model Reference Adaptive Controller (MRAC). Then, simulations and flight experiments are given for testing the robustness and validity of the controller. In experiments, the position of quadrotor is obtained by the external motion sensor and IMU including gyroscope and accelerometer. The external motion sensor is constructed by RGB-D sensor, Microsoft Kinect. Using the depth information from Kinect, the 3D position of quadrotor could be obtained based on the projection relation of camera.