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Control of an autonomous paramodel
In this project an embedded controller will be designed and implemented on an adapted RC paramodel, allowing it to fly autonomously and safely in a wide range of conditions and loads.
Keywords: Automatic Control, Embedded system, Nonlinear Model Predictive Control, Dynamic System Modeling, ARM, Wind power, Flying platform
This project has several sub-projects, and any sub-project can build onto the results of the previous ones. So far, these include the installation of an embedded controller (PixHawk) and communication up-link on a RC paramodel (Opale-paramodels/Backpack XS2, 236 cm wingspan). Further, a first working model of the paramodel including experimental parameter identification has been accomplished.
Outline of possible projects (flexible to the student interests and scope)
1. Use the previously developed model and design a controller for autonomous operation of the parameter. The choice of control method (MPC, feedback linearisation, adaptive control, learning based methods,..) is subject to the student's interests and background.
2. Test in simulation and experimentally.
This project has several sub-projects, and any sub-project can build onto the results of the previous ones. So far, these include the installation of an embedded controller (PixHawk) and communication up-link on a RC paramodel (Opale-paramodels/Backpack XS2, 236 cm wingspan). Further, a first working model of the paramodel including experimental parameter identification has been accomplished.
Outline of possible projects (flexible to the student interests and scope)
1. Use the previously developed model and design a controller for autonomous operation of the parameter. The choice of control method (MPC, feedback linearisation, adaptive control, learning based methods,..) is subject to the student's interests and background. 2. Test in simulation and experimentally.
The main goal of the project is to be able to control and stabilize the autonomous flight of the RC paramodel. In particular, this includes the ability to cope with significant disturbances and recover from undesirable states.
The main goal of the project is to be able to control and stabilize the autonomous flight of the RC paramodel. In particular, this includes the ability to cope with significant disturbances and recover from undesirable states.
Eva Ahbe (ahbee@control.ee.ethz.ch)
Samuel Balula (balula@control.ee.ethz.ch)
Eva Ahbe (ahbee@control.ee.ethz.ch) Samuel Balula (balula@control.ee.ethz.ch)
