Skip to main content

ASU Global menu

Skip to Content Report an accessibility problem ASU Home My ASU Colleges and Schools Sign In
Arizona State University Arizona State University
ASU Library KEEP

Main navigation

Home Browse Collections Share Your Work
Copyright Describe Your Materials File Formats Open Access Repository Practices Share Your Materials Terms of Deposit API Documentation
Skip to Content Report an accessibility problem ASU Home My ASU Colleges and Schools Sign In
  1. KEEP
  2. Theses and Dissertations
  3. ASU Electronic Theses and Dissertations
  4. Modeling, Design and Control of a 6 D-O-F Quadcopter Fleet With Platooning Control
  5. Full metadata

Modeling, Design and Control of a 6 D-O-F Quadcopter Fleet With Platooning Control

Full metadata

Description

Vertical take-off and landing (VTOL) systems have become a crucial component of aeronautical and commercial applications alike. Quadcopter systems are rather convenient to analyze and design controllers for, owing to symmetry in body dynamics. In this work, a quadcopter model at hover equilibrium is derived, using both high and low level control. The low level control system is designed to track reference Euler angles (roll, pitch and yaw) as shown in previous work [1],[2]. The high level control is designed to track reference X, Y, and Z axis states [3].
The objective of this paper is to model, design and simulate platooning (separation) control for a fleet of 6 quadcopter units, each comprising of high and low level control systems, using a leader-follower approach. The primary motivation of this research is to examine the ”accordion effect”, a phenomenon observed in leader-follower systems due to which positioning or spacing errors arise in follower vehicles due to sudden changes in lead vehicle velocity. It is proposed that the accordion effect occurs when lead vehicle information is not directly communicated with the rest of the
system [4][5]
.
In this paper, the effect of leader acceleration feedback is observed for the quadcopter platoon. This is performed by first designing a classical platoon controller for a nominal case, where communication within the system is purely ad-hoc (i.e from one quadcopter to it’s immediate successor in the fleet). Steady state separation/positioning errors for each member of the fleet are observed and documented during simulation. Following this analysis, lead vehicle acceleration is provided to the controller (as a feed forward term), to observe the extent of it’s effect on steady state separation, specifically along tight maneuvers. Thus the key contribution of this work is a controller that stabilizes a platoon of quadcopters in the presence of the accordion effect, when employing a leader-follower approach. The modeling shown in this paper builds on previous research to design a low costquadcopter platform, the Mark 3 copter [1]. Prior to each simulation, model nonlinearities and hardware constants are measured or derived from the Mark 3 model, in an effort to observe the working of the system in the presence of realistic hardware constraints. The system is designed in compliance with Robot Operating System (ROS) and the Micro Air Vehicle Link (MAVLINK) communication protocol.

Date Created
2021
Contributors
  • Srinivasan, Anshuman (Author)
  • Rodriguez, Armando A. (Thesis advisor)
  • Si, Jennie (Committee member)
  • Tsakalis, Konstantinos (Committee member)
  • Arizona State University (Publisher)
Topical Subject
  • Electrical Engineering
  • Aerospace Engineering
  • robotics
  • Accordion effect
  • Nonlinear simulation
  • PID Control
  • Platoon control
  • Quadcopter
  • Tight manuever
Genre
Masters Thesis
Academic theses
Extent
149 pages
Language
eng
Copyright Statement
In Copyright
Reuse Permissions
All Rights Reserved
Primary Member of
ASU Electronic Theses and Dissertations
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.2.N.161256
Level of coding
minimal
Cataloging Standards
asu1
Note
Partial requirement for: M.S., Arizona State University, 2021
Field of study: Electrical Engineering
System Created
  • 2021-11-16 11:33:51
System Modified
  • 2021-11-30 12:51:28
  •     
  • 6 months 3 weeks ago
Additional Formats
  • OAI Dublin Core
  • MODS XML

Quick actions

About this item

Overview
 Copy permalink

Explore this item

View all associated media

Share this content

Feedback

ASU University Technology Office Arizona State University.
KEEP

Contact Us

Repository Services
Home KEEP PRISM Dataverse
Resources
Terms of Deposit Sharing Materials: ASU Digital Repository Guide Open Access at ASU

The ASU Library acknowledges the twenty-two Native Nations that have inhabited this land for centuries. Arizona State University's four campuses are located in the Salt River Valley on ancestral territories of Indigenous peoples, including the Akimel O’odham (Pima) and Pee Posh (Maricopa) Indian Communities, whose care and keeping of these lands allows us to be here today. ASU Library acknowledges the sovereignty of these nations and seeks to foster an environment of success and possibility for Native American students and patrons. We are advocates for the incorporation of Indigenous knowledge systems and research methodologies within contemporary library practice. ASU Library welcomes members of the Akimel O’odham and Pee Posh, and all Native nations to the Library.

Number one in the U.S. for innovation. #1 ASU, #2 Stanford, #3 MIT. - U.S. News and World Report, 5 years, 2016-2020
Maps and Locations Jobs Directory Contact ASU My ASU
Copyright and Trademark Accessibility Privacy Terms of Use Emergency