Full state control of a Fury X-Cell unmanned helicopter

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dc.contributor.advisorMilne, G. W.en_ZA
dc.contributor.advisorJones, T.en_ZA
dc.contributor.authorVan Schalkwyk, Carloen_ZA
dc.contributor.otherUniversity of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering.
dc.date.accessioned2009-02-27T13:26:03Zen_ZA
dc.date.accessioned2010-06-01T09:01:56Z
dc.date.available2009-02-27T13:26:03Zen_ZA
dc.date.available2010-06-01T09:01:56Z
dc.date.issued2009-03
dc.descriptionThesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009.
dc.description.abstractThis 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.urihttp://hdl.handle.net/10019.1/2934
dc.language.isoenen_ZA
dc.publisherStellenbosch : University of Stellenbosch
dc.rights.holderUniversity of Stellenbosch
dc.subjectTheses -- Electrical and electronic engineeringen_ZA
dc.subjectDissertations -- Electrical and electronic engineeringen-ZA
dc.subject.lcshHelicopters -- Modelsen_ZA
dc.subject.lcshHelicopters -- Models -- Radio controlen_ZA
dc.subject.lcshHelicopters -- Modelsen_ZA
dc.subject.lcshHelicopters -- Control systemsen_ZA
dc.subject.lcshDrone aircraften_ZA
dc.subject.otherELectrical and Electronic Engineeringen_ZA
dc.titleFull state control of a Fury X-Cell unmanned helicopteren_ZA
dc.typeThesisen_ZA
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