Control and state estimation of quadrotor

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Supervisor:
Dr. Drexler Dániel András
Department of Control Engineering and Information Technology

The first part of my work was to get familiar with the existing experiment setup both from hardware and software sides. I examined also the available sensor systems as their behaviour.

In the second part of my thesis, I described the properties of orientation representation with quaternios and dealt with the orientation estimation topic. Based on the gathered knowledge, I constructed the orientation estimator model in MATLAB Simulink software environment. I validated the system operation using simulation and measurement results.

The third step was the implementation of the orientation estimator to the existing central control hardware of the system. In the fourth phase, I implemented the helicopter model which is the base of the control design task.

The fifth phase of the project was focusing on designing and testing closed loop controllers for the helicopter model. Subsequently, the opportunities for remote control were investigated with the already available sensor system on the helicopter.

Finally, a through investigation was performed analyzing the possible failure modes.

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