Nonlinear control strategies for quadrotors and CubeSats

Subramanian, Giri Prashanth

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https://hdl.handle.net/2142/88078 Copy

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

Date of Ingest

2015-09-29T20:38:37Z

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.

Graduation Semester

2015-8

Type of Resource

text

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http://hdl.handle.net/2142/88078

Copyright and License Information

Copyright 2015 Giri Prashanth Subramanian

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