A master thesis from Aalborg University
Quadcopter control exposed to ground, ceiling, wall and wind disturbances
Author(s)
Term
4. term
Education
Publication year
2021
Submitted on
2021-11-15
Pages
74 pages
Abstract
Drones are gaining interest in many fields and are used to simplify advanced tasks. For this purpose, robust control and knowledge of disturbance effects have to be raised, discussed, and analysed. This thesis investigates the impacts of noise, wind, ground, ceiling and wall effects. These disturbances are obtained from earlier studies and will be tested with three different control strategies to investigate the influence of a simple controller contrary to an advanced controller. Further, to mitigate the influences from noise, an Extended Kalman filter was created to avert the effect of noise. This thesis highlights how important robust control is when using drones for industrial purposes. PD, SMC and ISMC controllers are used to demonstrate how a quadcopter reacts to the disturbances and how it influences the control. Different tests showed that sliding control behaves more robust against disturbances and validated linear control to be unusable in several cases. This thesis concludes that advanced control must be used when challenging environments are met, and excellent performance is of interest.
Keywords
Documents
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