Towards Aerial Robotic Workers
The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this...
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Luleå tekniska universitet, Signaler och system
2015
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ftluleatu:oai:DiVA.org:ltu-26292 2023-12-17T10:33:14+01:00 Towards Aerial Robotic Workers Fresk, Emil 2015 application/pdf http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26292 eng eng Luleå tekniska universitet, Signaler och system Luleå Licentiate thesis / Luleå University of Technology, 1402-1757 orcid:0000-0001-5735-5484 http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26292 urn:isbn:978-91-7583-428-3 urn:isbn:978-91-7583-429-0 Local d8b72ab4-d4a4-46fb-aa62-418d8c25277f info:eu-repo/semantics/openAccess Aerial Robotic Worker UAV Multirotor Quadrotor Estimation Quaternion Inertial Navigation Control Engineering Reglerteknik Licentiate thesis, comprehensive summary info:eu-repo/semantics/masterThesis text 2015 ftluleatu 2023-11-23T17:10:44Z The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. In the first part of this thesis the main contributions of the previous research approaches will be highlighted, while in the second part of the thesis the corresponding and in full detail articles will be presented. Godkänd; 2015; 20151009 (emifre); Nedanstående person kommer att hålla licentiatseminarium för avläggande av teknologie licentiatexamen. Namn: Emil Fresk Ämne: Reglerteknik/Control Engineering Uppsats: Towards Aerial Robotic Workers Examinator: Biträdande Professor George Nikolakopoulos, Institutionen för system- och rymdteknik, Avdelning: Signaler och system, Luleå tekniska universitet Diskutant: Associate Professor Dimos Dimarogonas, Automatic Control, School of Electrical Engineering, KTH, Stockholm Tid: Onsdag 11 november 2015 kl 10.00 Plats: A109, Luleå ... Master Thesis Luleå Luleå Luleå University of Technology Publications (DiVA) |
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Luleå University of Technology Publications (DiVA) |
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English |
topic |
Aerial Robotic Worker UAV Multirotor Quadrotor Estimation Quaternion Inertial Navigation Control Engineering Reglerteknik |
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Aerial Robotic Worker UAV Multirotor Quadrotor Estimation Quaternion Inertial Navigation Control Engineering Reglerteknik Fresk, Emil Towards Aerial Robotic Workers |
topic_facet |
Aerial Robotic Worker UAV Multirotor Quadrotor Estimation Quaternion Inertial Navigation Control Engineering Reglerteknik |
description |
The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. In the first part of this thesis the main contributions of the previous research approaches will be highlighted, while in the second part of the thesis the corresponding and in full detail articles will be presented. Godkänd; 2015; 20151009 (emifre); Nedanstående person kommer att hålla licentiatseminarium för avläggande av teknologie licentiatexamen. Namn: Emil Fresk Ämne: Reglerteknik/Control Engineering Uppsats: Towards Aerial Robotic Workers Examinator: Biträdande Professor George Nikolakopoulos, Institutionen för system- och rymdteknik, Avdelning: Signaler och system, Luleå tekniska universitet Diskutant: Associate Professor Dimos Dimarogonas, Automatic Control, School of Electrical Engineering, KTH, Stockholm Tid: Onsdag 11 november 2015 kl 10.00 Plats: A109, Luleå ... |
format |
Master Thesis |
author |
Fresk, Emil |
author_facet |
Fresk, Emil |
author_sort |
Fresk, Emil |
title |
Towards Aerial Robotic Workers |
title_short |
Towards Aerial Robotic Workers |
title_full |
Towards Aerial Robotic Workers |
title_fullStr |
Towards Aerial Robotic Workers |
title_full_unstemmed |
Towards Aerial Robotic Workers |
title_sort |
towards aerial robotic workers |
publisher |
Luleå tekniska universitet, Signaler och system |
publishDate |
2015 |
url |
http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26292 |
genre |
Luleå Luleå |
genre_facet |
Luleå Luleå |
op_relation |
Licentiate thesis / Luleå University of Technology, 1402-1757 orcid:0000-0001-5735-5484 http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26292 urn:isbn:978-91-7583-428-3 urn:isbn:978-91-7583-429-0 Local d8b72ab4-d4a4-46fb-aa62-418d8c25277f |
op_rights |
info:eu-repo/semantics/openAccess |
_version_ |
1785587148794101760 |