Flying with Payloads
dc.contributor.author
Fekry Kamel, Mina S.
dc.date.accessioned
2017-09-27T09:48:31Z
dc.date.available
2017-06-11T10:33:19Z
dc.date.available
2017-09-27T09:48:31Z
dc.date.issued
2013-05
dc.identifier.uri
http://hdl.handle.net/20.500.11850/86330
dc.identifier.doi
10.3929/ethz-a-010186593
dc.description.abstract
This semester thesis shows how carrying a payload affects the dynamics of the quadrocopter and trajectory feasibility. Moreover it shows that compensation for the payload’s inertial parameters can improve the tracking performance. First, recursive least square estimation algorithm with fading memory is presented to estimate the payload’s inertial parameters, and modification in the on board controller is introduced to compensate for the payload. The results are implemented and tested in the Flying Machine Arena in ETH Zurich. Finally we show how the feasible set of time-optimal trajectories can be influenced by the presence of a grasped object.
en_US
dc.format
application/pdf
dc.language.iso
en
en_US
dc.publisher
ETH-Zürich
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.title
Flying with Payloads
en_US
dc.type
Other Publication
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2014
ethz.size
39 p.
en_US
ethz.code.ddc
DDC - DDC::6 - Technology, medicine and applied sciences::620 - Engineering & allied operations
en_US
ethz.identifier.nebis
010186593
ethz.publication.place
Zürich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
ethz.date.deposited
2017-06-11T10:35:45Z
ethz.source
ECOL
ethz.source
ECIT
ethz.identifier.importid
imp59365211dca7d93294
ethz.identifier.importid
imp59366b5fd72dc52945
ethz.ecolpid
eth:8829
ethz.ecitpid
pub:135943
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2017-07-18T08:47:56Z
ethz.rosetta.lastUpdated
2021-02-14T18:50:11Z
ethz.rosetta.versionExported
true
ethz.COinS
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