2026-09-19T17:52:58Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/88078 2023-07-11 col_2142_5131 col_2142_14800 com_2142_5130 com_2142_14799 com_2142_234

Chung, Soon-Jo Subramanian, Giri Prashanth 2015-09-29T20:38:37Z 2015-09-29T20:38:37Z 2015-08 2015-07-20 This thesis is presented in two parts. In the first part, a fully nonlinear controller is developed for controlling the position and attitude of the Crazyflie quadrotor. In order to use this controller, a system identification is first performed in order to completely model the dynamics of the Crazyflie quadrotor. A proof of convergence is also given for this controller to show that the developed controller is globally exponentially stable. The controller is then implemented on hardware and a quadrotor testbed capable of flying 10-15 quadrotors simultaneously, is developed. In the second part of the thesis, a Systems Engineering study for formation flying CubeSats has been undertaken. Two different kinds of formation flying missions using 4-6 CubeSats have been developed, one with an actively controlled formation and the other with a passively controlled formation. Different controllers have been developed for these missions and the current technological bottlenecks in realizing these missions have been identified. Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2015-09-29 without embargo terms The student, Giri Prashanth Subramanian, accepted the attached license on 2015-07-17 at 13:52. The student, Giri Prashanth Subramanian, submitted this Thesis for approval on 2015-07-17 at 14:23. This Thesis was approved for publication on 2015-07-20 at 09:22. DSpace SAF Submission Ingestion Package generated from Vireo submission #8538 on 2015-09-29 at 13:23:07 Made available in DSpace on 2015-09-29T20:38:37Z (GMT). No. of bitstreams: 3 SUBRAMANIAN-THESIS-2015.pdf: 6201114 bytes, checksum: ae2f69c387c3e15e4a305f85e1a4735c (MD5) Giri_Subramanian_Thesis_source_files.zip: 10080039 bytes, checksum: e1b24ddd5d526604267bd30497208d46 (MD5) LICENSE.txt: 4223 bytes, checksum: 94113c3a6c5681470b0c40e2a7c8ba66 (MD5) Previous issue date: 2015-07-20 application/pdf http://hdl.handle.net/2142/88078 en Copyright 2015 Giri Prashanth Subramanian Quadrotors Controls Nonlinear controls Quadrotor testbed Swarms CubeSat System Engineering CubeSat Reconfiguration J2-invariant relative orbits Formation flight Nonlinear control strategies for quadrotors and CubeSats text text 2015-8 Aerospace Engineering Aerospace Engineering University of Illinois at Urbana-Champaign Thesis M.S.