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\BOOKMARK [0][-]{chapter*.1}{Declaration}{}% 1
\BOOKMARK [0][-]{chapter*.2}{Abstract}{}% 2
\BOOKMARK [0][-]{chapter*.3}{Acknowledgements}{}% 3
\BOOKMARK [0][-]{chapter*.4}{Nomenclature}{}% 4
\BOOKMARK [0][-]{chapter*.5}{Symbols}{}% 5
\BOOKMARK [0][-]{chapter.1}{Introduction}{}% 6
\BOOKMARK [1][-]{section.1.1}{Foreword}{chapter.1}% 7
\BOOKMARK [2][-]{subsection.1.1.1}{A Brief Background to the Study}{section.1.1}% 8
\BOOKMARK [2][-]{subsection.1.1.2}{Research Questions and Hypotheses}{section.1.1}% 9
\BOOKMARK [2][-]{subsection.1.1.3}{Scope and Limitations}{section.1.1}% 10
\BOOKMARK [2][-]{subsection.1.1.4}{Contributions of Study}{section.1.1}% 11
\BOOKMARK [1][-]{section.1.2}{Literature Review}{chapter.1}% 12
\BOOKMARK [2][-]{subsection.1.2.1}{Existing and Related Work}{section.1.2}% 13
\BOOKMARK [2][-]{subsection.1.2.2}{Notable Quadrotor Control Implementations}{section.1.2}% 14
\BOOKMARK [0][-]{chapter.2}{Prototype Design}{}% 15
\BOOKMARK [1][-]{section.2.1}{Design}{chapter.2}% 16
\BOOKMARK [2][-]{subsection.2.1.1}{Actuation Functionality}{section.2.1}% 17
\BOOKMARK [1][-]{section.2.2}{Reference Frames Used}{chapter.2}% 18
\BOOKMARK [2][-]{subsection.2.2.1}{Reference Frames Convention}{section.2.2}% 19
\BOOKMARK [2][-]{subsection.2.2.2}{Motor Axis Layout}{section.2.2}% 20
\BOOKMARK [1][-]{section.2.3}{Inertia Matrices and Masses}{chapter.2}% 21
\BOOKMARK [1][-]{section.2.4}{Electronics}{chapter.2}% 22
\BOOKMARK [2][-]{subsection.2.4.1}{Actuator Transfer Functions}{section.2.4}% 23
\BOOKMARK [0][-]{chapter.3}{Kinematics and Dynamics}{}% 24
\BOOKMARK [1][-]{section.3.1}{Rigid Body Dynamics}{chapter.3}% 25
\BOOKMARK [2][-]{subsection.3.1.1}{Lagrange Derivation}{section.3.1}% 26
\BOOKMARK [1][-]{section.3.2}{Aerodynamics}{chapter.3}% 27
\BOOKMARK [2][-]{subsection.3.2.1}{Propeller Torque and Thrust}{section.3.2}% 28
\BOOKMARK [2][-]{subsection.3.2.2}{Hinged Propeller Conning and Flapping}{section.3.2}% 29
\BOOKMARK [2][-]{subsection.3.2.3}{Drag}{section.3.2}% 30
\BOOKMARK [1][-]{section.3.3}{Quaternion Attitude}{chapter.3}% 31
\BOOKMARK [2][-]{subsection.3.3.1}{Rotation Matrix Singularity}{section.3.3}% 32
\BOOKMARK [2][-]{subsection.3.3.2}{Quaternion Dynamics}{section.3.3}% 33
\BOOKMARK [2][-]{subsection.3.3.3}{Quaternion Unwinding}{section.3.3}% 34
\BOOKMARK [1][-]{section.3.4}{Multibody Nonlinearities}{chapter.3}% 35
\BOOKMARK [2][-]{subsection.3.4.1}{Relative Rotational Gyroscopic and Inertia Torques}{section.3.4}% 36
\BOOKMARK [2][-]{subsection.3.4.2}{Verification and simulation of induced model}{section.3.4}% 37
\BOOKMARK [1][-]{section.3.5}{Consolidated Model}{chapter.3}% 38
\BOOKMARK [0][-]{chapter.4}{Controller Development}{}% 39
\BOOKMARK [1][-]{section.4.1}{Control Loop}{chapter.4}% 40
\BOOKMARK [1][-]{section.4.2}{Control Plant Inputs}{chapter.4}% 41
\BOOKMARK [1][-]{section.4.3}{Stability}{chapter.4}% 42
\BOOKMARK [1][-]{section.4.4}{Lyapunov Stability Theory}{chapter.4}% 43
\BOOKMARK [1][-]{section.4.5}{Model Dependent and Independent Controllers}{chapter.4}% 44
\BOOKMARK [1][-]{section.4.6}{Attitude Control}{chapter.4}% 45
\BOOKMARK [2][-]{subsection.4.6.1}{The Attitude Control Problem}{section.4.6}% 46
\BOOKMARK [2][-]{subsection.4.6.2}{Linear Controllers}{section.4.6}% 47
\BOOKMARK [2][-]{subsection.4.6.3}{Nonlinear Controllers}{section.4.6}% 48
\BOOKMARK [1][-]{section.4.7}{Position Control}{chapter.4}% 49
\BOOKMARK [2][-]{subsection.4.7.1}{PD Controller}{section.4.7}% 50
\BOOKMARK [2][-]{subsection.4.7.2}{Adaptive Backstepping Controller}{section.4.7}% 51
\BOOKMARK [0][-]{chapter.5}{Control Allocation Algorithm}{}% 52
\BOOKMARK [1][-]{section.5.1}{Generalized allocation}{chapter.5}% 53
\BOOKMARK [1][-]{section.5.2}{Thrust vector inversion}{chapter.5}% 54
\BOOKMARK [1][-]{section.5.3}{Allocators}{chapter.5}% 55
\BOOKMARK [2][-]{subsection.5.3.1}{Pseudo Inverse Allocator}{section.5.3}% 56
\BOOKMARK [2][-]{subsection.5.3.2}{Priority Norm Inverse Allocator}{section.5.3}% 57
\BOOKMARK [2][-]{subsection.5.3.3}{Weighted Pseudo-Inverse Allocator}{section.5.3}% 58
\BOOKMARK [0][-]{chapter.6}{Simulations and Discussion of Results}{}% 59
\BOOKMARK [1][-]{section.6.1}{Simulator description}{chapter.6}% 60
\BOOKMARK [1][-]{section.6.2}{Controller Tuning}{chapter.6}% 61
\BOOKMARK [2][-]{subsection.6.2.1}{Particle Swarm Optimization Algorithm}{section.6.2}% 62
\BOOKMARK [1][-]{section.6.3}{Attitude Controllers}{chapter.6}% 63
\BOOKMARK [2][-]{subsection.6.3.1}{PD}{section.6.3}% 64
\BOOKMARK [2][-]{subsection.6.3.2}{Auxiliary Plant Controller}{section.6.3}% 65
\BOOKMARK [2][-]{subsection.6.3.3}{Ideal and Adaptive Backstepping Controllers}{section.6.3}% 66
\BOOKMARK [1][-]{section.6.4}{Position Controllers}{chapter.6}% 67
\BOOKMARK [2][-]{subsection.6.4.1}{PD}{section.6.4}% 68
\BOOKMARK [2][-]{subsection.6.4.2}{Ideal and Adaptive Position Backstepping}{section.6.4}% 69
\BOOKMARK [1][-]{section.6.5}{Setpoint Control Results}{chapter.6}% 70
\BOOKMARK [1][-]{section.6.6}{Robust Stability and Disturbance Rejection}{chapter.6}% 71
\BOOKMARK [2][-]{subsection.6.6.1}{Torque Disturbance Rejection}{section.6.6}% 72
\BOOKMARK [2][-]{subsection.6.6.2}{Disturbance Force Rejection}{section.6.6}% 73
\BOOKMARK [1][-]{section.6.7}{Allocation Tests}{chapter.6}% 74
\BOOKMARK [1][-]{section.6.8}{Input Saturation}{chapter.6}% 75
\BOOKMARK [1][-]{section.6.9}{State Estimation}{chapter.6}% 76
\BOOKMARK [0][-]{chapter.7}{Conclusions and Recommendations}{}% 77
\BOOKMARK [0][-]{appendix.A}{Expanded Equations}{}% 78
\BOOKMARK [1][-]{section.A.1}{Standard Quadrotor Dynamics}{appendix.A}% 79
\BOOKMARK [1][-]{section.A.2}{Blade-Element Momentum Expansion}{appendix.A}% 80
\BOOKMARK [1][-]{section.A.3}{Euler-Angles from Quaternions}{appendix.A}% 81
\BOOKMARK [0][-]{appendix.B}{Design Bill of Materials}{}% 82
\BOOKMARK [1][-]{section.B.1}{Parts List}{appendix.B}% 83
\BOOKMARK [1][-]{section.B.2}{F3 Deluxe Schematic Diagram}{appendix.B}% 84
\BOOKMARK [1][-]{section.B.3}{Strain Gauge Amplification}{appendix.B}% 85
\BOOKMARK [0][-]{appendix.C}{System ID Test Data}{}% 86
\BOOKMARK [1][-]{section.C.1}{Thrust and Torque Test Data}{appendix.C}% 87
\BOOKMARK [1][-]{section.C.2}{Cobra CM2208-200KV Thrust Data}{appendix.C}% 88
\BOOKMARK [1][-]{section.C.3}{Controller Disturbance Rejection}{appendix.C}% 89
\BOOKMARK [2][-]{subsection.C.3.1}{Attitude Controllers}{section.C.3}% 90
\BOOKMARK [2][-]{subsection.C.3.2}{Position Controllers}{section.C.3}% 91