Model predictive control of micro aerial vehicle using onboard microcontroller

88 Pages·2015·18.57 MB·English

by  Tomáš Báca

CZECH TECHNICAL UNIVERSITY IN PRAGUE
Faculty of Electrical Engineering
MASTER’S THESIS
Tom´aˇs B´aˇca
Model predictive control of micro aerial vehicle using onboard
microcontroller
Department of Computer Science
Thesis supervisor: Dr. Martin Saska

Acknowledgements
Firstly I would like to thank my family for their encouragement and support during
my whole studies. Furthermore, I thank my supervisor Martin Saska for his great support
throughout this project. Finally, my thanks goes to my friend and colleague Anton´ın Nov´ak
forhisexcellentexpertiseandcorrectionsregardingmathematics.Thisthesisisanoutcomeof
a long lasting and diligent work. The author is grateful for the knowledge and the experience
he gained, both theoretical and technical.

Abstract
This thesis deals with autonomous stabilization of unmanned multirotor
aircraft along predefined trajectories, using a model predictive control
approach. The main focus of this work lies in design and implementation
of an embedded platform to allow onboard execution of the controller. We
propose a linear dynamical model of the helicopter, identification of its
parameter and design of a state observer. A quadratic model predictive
controller is derived, implemented, and prepared for the experimental
platform, which has been created for this purpose. Presented experiments,
conducted both indoors and outdoors, verified the capability of the system
to accurately follow a desired trajectory in space.
Keywords: model predictive control, unmanned aerial vehicles, em-
bedded systems
Abstrakt
Tato pr´ace se zaby´v´a n´avrhem ˇr´ıdic´ıho syst´emu pro v´ıcerotorovou
bezpilotn´ı helikopt´eru s pouˇzit´ım metody prediktivn´ıho ˇr´ızen´ı. Za c´ıl
si klade vy´voj vestavˇen´eho syst´emu, ktery´ umoˇzn´ı vy´poˇcet regul´atoru
pˇr´ımo na palubˇe letounu. Pˇredkl´ad´ame model dynamick´eho syst´emu
helikopt´ery, identifikaci jeho parametr˚u a n´asledny´ n´avrh pozorovatele
stav˚u. Kvadraticky´ prediktivn´ı regul´ator je odvozen a implementov´an
do navrˇzen´eho hardware. Prezentovan´e experimenty, proveden´e uvnitˇr i
vnˇebudovy,prok´azalyschopnostpˇresn´ehosledov´an´ıtrajektori´ıvprostoru.
Kl´ıˇcov´a slova: prediktivn´ı ˇr´ızen´ı, bezpilotn´ı letouny, vestavˇen´e syst´emy