Fault Tolerant Control of a X8-VB Quadcopter
Autor(a) principal: | |
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Data de Publicação: | 2016 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10362/20249 |
Resumo: | In this dissertation new modeling and fault tolerant control methodologies of a quadcopter with X8 configuration are proposed; studies done to actuators faults and possible reconfigurations are also presented. The main research effort has been done to design and implement the kinematic and dynamic model of a quadcopter with X8 configuration in Simulink®. Moreover, simulation and control of the quadcopter in a virtual reality world using Simulink3D® and real world experimental results from a quadcopter assembled for this purpose. The main contributions are the modeling of a X8 architecture and a fault tolerant control approach. In order to show the performance of the controllers in closed-loop, simulation results with the model of a X8 quadcopter and real world experiments are presented. The simulations and experiments revealed good performance of the control systems due to the aircraft model quality. The conclusion of the theoretical studies done in the field of actuators’ fault tolerance were validated with simulation and real experiments. |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Fault Tolerant Control of a X8-VB QuadcopterQuadcopterModelingfault toleranceFault tolerant controlKinematic and dynamic systemsArduinoDomínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e InformáticaIn this dissertation new modeling and fault tolerant control methodologies of a quadcopter with X8 configuration are proposed; studies done to actuators faults and possible reconfigurations are also presented. The main research effort has been done to design and implement the kinematic and dynamic model of a quadcopter with X8 configuration in Simulink®. Moreover, simulation and control of the quadcopter in a virtual reality world using Simulink3D® and real world experimental results from a quadcopter assembled for this purpose. The main contributions are the modeling of a X8 architecture and a fault tolerant control approach. In order to show the performance of the controllers in closed-loop, simulation results with the model of a X8 quadcopter and real world experiments are presented. The simulations and experiments revealed good performance of the control systems due to the aircraft model quality. The conclusion of the theoretical studies done in the field of actuators’ fault tolerance were validated with simulation and real experiments.Palma, LuísRUNBrito, Vasco da Silva2017-03-09T10:36:32Z2016-092017-032016-09-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10362/20249enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-11T04:03:32Zoai:run.unl.pt:10362/20249Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:26:01.224587Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Fault Tolerant Control of a X8-VB Quadcopter |
title |
Fault Tolerant Control of a X8-VB Quadcopter |
spellingShingle |
Fault Tolerant Control of a X8-VB Quadcopter Brito, Vasco da Silva Quadcopter Modeling fault tolerance Fault tolerant control Kinematic and dynamic systems Arduino Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
title_short |
Fault Tolerant Control of a X8-VB Quadcopter |
title_full |
Fault Tolerant Control of a X8-VB Quadcopter |
title_fullStr |
Fault Tolerant Control of a X8-VB Quadcopter |
title_full_unstemmed |
Fault Tolerant Control of a X8-VB Quadcopter |
title_sort |
Fault Tolerant Control of a X8-VB Quadcopter |
author |
Brito, Vasco da Silva |
author_facet |
Brito, Vasco da Silva |
author_role |
author |
dc.contributor.none.fl_str_mv |
Palma, Luís RUN |
dc.contributor.author.fl_str_mv |
Brito, Vasco da Silva |
dc.subject.por.fl_str_mv |
Quadcopter Modeling fault tolerance Fault tolerant control Kinematic and dynamic systems Arduino Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
topic |
Quadcopter Modeling fault tolerance Fault tolerant control Kinematic and dynamic systems Arduino Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática |
description |
In this dissertation new modeling and fault tolerant control methodologies of a quadcopter with X8 configuration are proposed; studies done to actuators faults and possible reconfigurations are also presented. The main research effort has been done to design and implement the kinematic and dynamic model of a quadcopter with X8 configuration in Simulink®. Moreover, simulation and control of the quadcopter in a virtual reality world using Simulink3D® and real world experimental results from a quadcopter assembled for this purpose. The main contributions are the modeling of a X8 architecture and a fault tolerant control approach. In order to show the performance of the controllers in closed-loop, simulation results with the model of a X8 quadcopter and real world experiments are presented. The simulations and experiments revealed good performance of the control systems due to the aircraft model quality. The conclusion of the theoretical studies done in the field of actuators’ fault tolerance were validated with simulation and real experiments. |
publishDate |
2016 |
dc.date.none.fl_str_mv |
2016-09 2016-09-01T00:00:00Z 2017-03-09T10:36:32Z 2017-03 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10362/20249 |
url |
http://hdl.handle.net/10362/20249 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
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1799137890844803072 |