Nonlinear control strategies for quadrotors and CubeSats

Quadrotors;Controls;Nonlinear controls;Quadrotor testbed;Swarms;CubeSat System Engineering;CubeSat Reconfiguration;J2-invariant relative orbits;Formation flight

Subramanian, Giri Prashanth ; Chung ; Soon-Jo

关键词: Quadrotors;    Controls;    Nonlinear controls;    Quadrotor testbed;    Swarms;    CubeSat System Engineering;    CubeSat Reconfiguration;    J2-invariant relative orbits;    Formation flight;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/88078/SUBRAMANIAN-THESIS-2015.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

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.