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Real World Implementation of Control Algorithms on a Nano Quadcopter


D. Zivkovic

Semester Thesis, FS16

Today autonomous flying vehicles operate in a wide range of applications such as film productions, surveillance and security, transportation, and military applications. As such, the Automatic Control Lab at ETH Zurich has decided to create a P&S course that will teach bachelors students about the basic of quadcopter modelling and control. The project includes implementation of a PID and LQR control algorithms for a stable quadcopter flight, as well as a GUI to interface the system. The project is realized using a Crazyflie 2.0 nano quadrotor designed by the Bitcraze company as an open source project with development in mind. Position and attitude measurements are acquired with the motion capture system from Vicon. The control system is split between the quadcopter's MCU and an off-board computer. Using the mathematical model of the Crazyflie 2.0, a simulation of the system is introduced to analyze the performance of different control algorithms and tune the controller parameters prior to their real world implementation. The mathematical model and motion capture measurements are connected with a Kinematic Kalman filter in order to acquire the full quadrotor state estimations. The GUI allows switching between different types of control algorithms as well as providing set-points to the system, displaying the current quadrotor state and choosing the amount of computation done onboard and off-board. Robot operating system (ROS) is used for connecting and synchronizing the off-board controller, GUI and the hardware components of the system. Stable quadrotor flight is achieved with both control algorithms and their performance is compared analyzing the in-flight logged data.

Supervisors: Paul Beuchat, Yvonne Stürz, John Lygeros, Roy Smith


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2017:IFA_5625
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