Implementacija i evaluacija geometrijskog upravljanja multirotorskim letjelicama

undergraduate thesis

• Title (english): Implementation and evaluation of geometric control of multirotor aerial vehicle
• Author: Anđela Čirjak
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Tomislav Haus (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Na poˇcetku završnog rada predstavljene su Liejeve grupe, SO(3) i SE(3). Objašnjen
je algoritam geometrijskog upravljanja na prostoru SE(3) preuzet iz [6]. Cilj rada bio
je implementirati algoritam te dobiveni regulator usporediti s nekim od dostupnih PID
regulatora. Pokazana je implementacija u Pythonu i ROS-u na heksakopteru Firefly.
Testiranje je provedeno u simulatoru Gazebo. Pokazani su odzivi pozicije, kuta i brzine
dobiveni zadavanjem skokovite promjene pozicije i na kontinuiranim trajektorijama. U
zadnjem dijelu uspored¯en je implementirani geometrijski kontroler s PID regulatorom.
Za usporedbu su dani prikazi odziva pozicije, kuta i brzine.

Abstract (english)

In the first part Lie groups, SO(3) and SE(3), are presented. The objective of this
work is to implement the geometric control algorithm from [6] and to compare it with
a PID controller. The algorithm is implemented in Python and it is evaluated for the
Gazebo model of a hexacopter vehicle (Firefly) within ROS environment. The controller
is tested for step position reference and continuous trajectories. In a result section,
the responses of position, angle and velocity are presented. In the final part, the implemented
geometric controller is compared with a PID controller. Again, the position,
angle and velocity responses are given for a comparison.

• Keywords: bespilotne letjelice; geometrijsko upravljanje
• Keywords (english): unmanned aerial vehicles; geometric control
• Language: croatian
• URN:NBN: urn:nbn:hr:168:945096
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 08:17:28