Nonlinear control strategies for quadrotors and CubeSats
Subramanian, Giri Prashanth
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https://hdl.handle.net/2142/88078
Description
Title
Nonlinear control strategies for quadrotors and CubeSats
Author(s)
Subramanian, Giri Prashanth
Issue Date
2015-07-20
Director of Research (if dissertation) or Advisor (if thesis)
Chung, Soon-Jo
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Quadrotors
Controls
Nonlinear controls
Quadrotor testbed
Swarms
CubeSat System Engineering
CubeSat Reconfiguration
J2-invariant relative orbits
Formation flight
Abstract
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.
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