Print Email Facebook Twitter Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model Title Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model Author Abuter Grebe, Nicolás Omar (TU Delft Aerospace Engineering; TU Delft Control & Simulation) Contributor de Wagter, Christophe (mentor) Degree granting institution Delft University of Technology Date 2017-06-05 Abstract State of the art trajectory generation schemes for quadrotors assume a simple dynamic model.They neglect aerodynamic effects such as induced drag and blade flapping and assume that nowind is present. In order to overcome this limitation, this thesis investigates a trajectory optimization scheme based upon Differential Dynamic Programming (DDP). There are varioussoftware-implementations of the DDP scheme. For future deployment on robotic hardware thesoftware is required to be computationally efficient, written in C++ and to be open-source.A library named GCOP, which was developed at the John Hopkins University, fulfills theserequirements and is used. Before implementing the solver, a full model of the Crazyflie NanoQuadcopter is identified experimentally. The solver is validated, normalized and the performance is benchmarked. This method yields reliable minimum control-effort trajectories. Acontrol scheme is proposed and studied in Monte-Carlo simulations. Itis robust and able tohandle large modelling errors in mass and moment of inertia while ensuring minimal error onthe final state. Subject Differential Dynamic ProgrammingquadcopterquadrotorControllerModeling To reference this document use: http://resolver.tudelft.nl/uuid:edbb8630-d1ad-4230-b4cd-f593e81622b2 Part of collection Student theses Document type master thesis Rights © 2017 Nicolás Omar Abuter Grebe Files PDF MScThesisNicolasAbuter.pdf 2.3 MB Close viewer /islandora/object/uuid:edbb8630-d1ad-4230-b4cd-f593e81622b2/datastream/OBJ/view