Description
This thesis presents the design and simulation of an energy efficient controller for a system of three drones transporting a payload in a net. The object ensnared in the net is represented as a mass connected by massless stiff springs to each drone. Both a pole-placement approach and an optimal control approach are used to design a trajectory controller for the system. Results are simulated for a single drone and the three drone system both without and with payload.
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Details
Title
- Energy efficient optimal formation control of a multiple quadrotor UAV system with uncertain payload
Contributors
- Hayden, Alexander (Author)
- Grewal, Anoop (Thesis director)
- Berman, Spring (Committee member)
- Barrett, The Honors College (Contributor)
- Mechanical and Aerospace Engineering Program (Contributor)
- Historical, Philosophical & Religious Studies, Sch (Contributor)
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2022-05
Resource Type
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