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Gain-Scheduled Control of a Quadcopter UAV

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sawyer_shaun.pdf (2.06 MB)

Date

2015-07-28

Authors

Sawyer, Shaun

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Journal ISSN

Volume Title

Publisher

University of Waterloo

Abstract

In this thesis we develop a gain-scheduled control law for the quadcopter unmanned aerial vehicle (UAV). Techniques from linear control theory are introduced and used to construct adaptive proportional and proportional-integral control laws for use with both state and observer-based output feedback. The controller monitors the yaw angle of the quadcopter and updates a gain matrix as the system evolves through operating points. To demonstrate the effectiveness of the gain-scheduled controller, trajectories involving significant variation in the yaw angle are tracked by the quadcopter, including a helix and Lissajous curve. We consider physical implementation of the controller, and offer suggestions for improvement and future work.

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Keywords

control theory, gain scheduling, adaptive, PID, quadcopter, quadrotor, nonlinear systems, linearization, feedback, linear quadratic regulator

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Citation

URI

http://hdl.handle.net/10012/9488

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Theses
Applied Mathematics