University of Twente Student Theses


Role of Accelerometers in the control of Fully Actuated UAV

Chidura, Bhanu Teja (2021) Role of Accelerometers in the control of Fully Actuated UAV.

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Abstract:In recent years there has been an exponential growth in Aerial Robot technology leading to many new applications in performing active and passive tasks like package delivery, surveillance, geo-mapping and tasks requiring physical interaction with objects and humans. This has led to a research in developing fully actuated UAV that can overcome the shortcomings of dependent degrees of freedom in an under actuated UAV. Most of the UAVs measure parameters from Microelectromechanical Systems (MEMS) Inertial Measurement Unit(IMU) for the state estimation and control. Accelerometer measures specific acceleration which is the difference between the accelerations and gravity in body frame. Under actuated UAVs like quadrotors use accelerometers with the filtering method to act as an inclinometer. The use of accelerometer as inclinometer in a close loop structure is validated by adding a non-gravitational force (which is an aerodynamic force) called rotor drag. Understanding the role of accelerometers in a fully actuated UAV with tilted rotors by incorporating the rotor drag is the focus of this assignment. Rotor Drag is the function of the linear velocity produced by the body and the angular speed of the specific rotor. Due to the specific alignment of the rotors in a fully actuated UAV the rotor drag force results in components acting in multiple axis of the body frame. This force is captured by the accelerometer during motion. A fully actuated hexa-rotor with tilted propellers called FiberThex is used for the experiments and simulation setup in this work.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Systems and Control MSc (60359)
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