- Other Publication
Rights / licenseIn Copyright - Non-Commercial Use Permitted
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. Show more
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Organisational unit02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.
03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
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