Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2020
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| Online Access: | https://hdl.handle.net/1721.1/124256 |
| _version_ | 1811082690030469120 |
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| author | List, Alexander Hoekje. |
| author2 | R. John Hansman. |
| author_facet | R. John Hansman. List, Alexander Hoekje. |
| author_sort | List, Alexander Hoekje. |
| collection | MIT |
| description | This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. |
| first_indexed | 2024-09-23T12:07:23Z |
| format | Thesis |
| id | mit-1721.1/124256 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T12:07:23Z |
| publishDate | 2020 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1242562020-03-25T03:23:48Z Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields Assessing multi-rotor unmanned aerial vehicle controllability in low altitude fine-scale wind fields List, Alexander Hoekje. R. John Hansman. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Electrical Engineering and Computer Science. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019 Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (page 79). This study presents a means of assessing unmanned aerial vehicle (UAV) control in various environments using control margin. The metric gives an instantaneous measure of control authority and is defined by dividing required torque by maximum available torque. Required torque is the sum total of torque developed by a vehicle's rotors and residual terms representing the torque required to compensate for any remaining disturbances. The metric was demonstrated on a representative small quadrotor UAV in real world and laboratory environments. Utilizing only rotor revolutions per second and inertial measurement unit information, the metric indicates degraded control in conditions consistent with loss of control. This metric may ultimately be useful in understanding the low level wind environment, for certification of vehicles, or for real-time monitoring of control authority. by Alexander Hoekje List. M. Eng. M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science 2020-03-24T15:36:40Z 2020-03-24T15:36:40Z 2019 2019 Thesis https://hdl.handle.net/1721.1/124256 1145123370 eng MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 79 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. List, Alexander Hoekje. Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields |
| title | Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields |
| title_full | Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields |
| title_fullStr | Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields |
| title_full_unstemmed | Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields |
| title_short | Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields |
| title_sort | assessing multi rotor uav controllability in low altitude fine scale wind fields |
| topic | Electrical Engineering and Computer Science. |
| url | https://hdl.handle.net/1721.1/124256 |
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