Development of a Quadcopter Test Environment and Research Platform

Christian De Prins
This thesis first uses a model-based systems engineering approach to model, design, and implement a quadcopter test environment and research platform (TERP). TERP provides quadcopter state information, using a motion capture system, which can be used with custom feedback strategies to enable controlled flight. Next, it makes use of control theory to develop two controllers for quadcopter flight trajectory tracking: one based on linear quadratic regulation (LQR) and one based on model reference adaption. Simulations...
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