Full state control of a Fury X-Cell unmanned helicopter
dc.contributor.advisor | Milne, G. W. | en_ZA |
dc.contributor.advisor | Jones, T. | en_ZA |
dc.contributor.author | Van Schalkwyk, Carlo | en_ZA |
dc.contributor.other | University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. | |
dc.date.accessioned | 2009-02-27T13:26:03Z | en_ZA |
dc.date.accessioned | 2010-06-01T09:01:56Z | |
dc.date.available | 2009-02-27T13:26:03Z | en_ZA |
dc.date.available | 2010-06-01T09:01:56Z | |
dc.date.issued | 2009-03 | |
dc.description | Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009. | |
dc.description.abstract | This thesis describes the successful development of an autopilot for an unmanned radio controlled helicopter. It presents a non-linear helicopter model. An adaptive linearised model is derived and used to design a controller. The adaptive full state controller is tested in various ways, including two aerobatic manoeuvres. A number of analyses are performed on the controller, including its robustness to parameter changes, noisy estimates, wind and processing power. The controller is compared with a non-adaptive counterpart, which leads to the conception, design and analysis of a much improved control structure. Practical flight test results are presented and analysed. In some instances available literature was reworked and re-derived to produce a genericmodel-controller package that can easily be adapted for helicopters of any make, model and size. | en_ZA |
dc.identifier.uri | http://hdl.handle.net/10019.1/2934 | |
dc.language.iso | en | en_ZA |
dc.publisher | Stellenbosch : University of Stellenbosch | |
dc.rights.holder | University of Stellenbosch | |
dc.subject | Theses -- Electrical and electronic engineering | en_ZA |
dc.subject | Dissertations -- Electrical and electronic engineering | en-ZA |
dc.subject.lcsh | Helicopters -- Models | en_ZA |
dc.subject.lcsh | Helicopters -- Models -- Radio control | en_ZA |
dc.subject.lcsh | Helicopters -- Models | en_ZA |
dc.subject.lcsh | Helicopters -- Control systems | en_ZA |
dc.subject.lcsh | Drone aircraft | en_ZA |
dc.subject.other | ELectrical and Electronic Engineering | en_ZA |
dc.title | Full state control of a Fury X-Cell unmanned helicopter | en_ZA |
dc.type | Thesis | en_ZA |
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