Critical comparison of control techniques for a flight dynamics controller

Abstract

This dissertation covers the process of modelling and subsequently developing a flight dynamics controller for a quad-rotor unmanned aerial vehicle. It is a theoretical study that focusses on the selection of a controller type by first analysing the problem on a system level and then on a technical level. The craft is modelled using the Newton- Euler model, accounting for multiple reference frames to account for the interpretation of orientation as seen by on-board sensors. The quad-rotor model and selected controllers are characterized and compared. The model is verified through simulation by comparison to a validated model. A series of generic control loops are derived and used as reference for the implementation of the controllers. A Simulator is developed and used to do a comparative study of the various controller types and the control approach. Finally a full simulation is done to demonstrate the interaction between the controllers.