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oai:www.ideals.illinois.edu:2142/34205 2023-07-10 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Dullerud, Geir E. Sun, Yue 2012-09-18T21:05:49Z 2012-09-18T21:05:49Z 2012-08 2012-09-18T21:05:49Z 2012-08 This thesis focuses on the modeling and identification, control and filter design, simulation and animation, and experiments of an electrical-motor drive model-scale quadrotor --- the AR.Drone. Equations of Motion of drone’s model were derived from Kinemics and Dynamics of common quadrotors. The identification was conducted thoroughly including its low-resolution on-board sensors, such as rate gyro and altimeter. Control targets are composed of two stages --- local references following and global position tracking. PID algorithm is used by both controllers with various filters designs, such as low/high pass filter, Complementary Filter and Kalman Filter. Simulation is also divided to two stages with two different simulators ---- MATLAB and C++. The first stage MATLAB simulation is intended to only test the controllers with no disturbances or noises. The second stage high fidelity C++ simulation contains everything including animation. Experiments results are presented and correlated to simulation to evaluate the identification and modeling. This thesis also includes modeling and identification of a low-resolution camera sensor --- Kinect. The model is included in global position tracking simulation. Some experiments videos and animation videos are available at http://www.youtube.com/user/sunyue89/videos. The author hopes this thesis is helpful to researchers and amateurs who would like to develop the AR.Drone or any other small scale quadrotors using low-resolution sensing for autonomous control. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2012-07-20T13:33:57Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 ThesisA4.docx: 9618448 bytes, checksum: 9c34130c34eda93ef9fb59aab63ee037 (MD5) SUN_YUE.pdf: 3757664 bytes, checksum: a33125c26f7ccdc7b6a1003a69800fb0 (MD5) Made available in DSpace on 2012-09-18T21:05:49Z (GMT). No. of bitstreams: 3 SUN_YUE.pdf: 3750714 bytes, checksum: 6cca485c24862e70e776f74d4f7756b3 (MD5) license.txt: 4056 bytes, checksum: 6a9a447cc260e960cb0572872795d646 (MD5) ThesisA4.docx: 9618448 bytes, checksum: 9c34130c34eda93ef9fb59aab63ee037 (MD5) http://hdl.handle.net/2142/34205 en Copyright 2012 Yue Sun Modeling Identification Control quadrotor AR.Drone Modeling, identification and control of a quad-rotor drone using low-resolution sensing Mechanical Engineering 0133 University of Illinois at Urbana-Champaign Thesis M.S. MS:Mechanical Engineerng -UIUC 10KS0133MS Mechanical Sci & Engineering 1917