Sökning: "Emil Fresk"

Hittade 2 avhandlingar innehållade orden Emil Fresk.

  1. 1. Towards Aerial Robotic Workers

    Detta är en avhandling från Luleå tekniska universitet

    Författare :Emil Fresk; Luleå tekniska universitet.; [2015]
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Information technology - Automatic control; Aerial Robotic Worker; UAV; Multirotor; Quadrotor; Estimation; Quaternion; Inertial Navigation; Informationsteknik - Reglerteknik; Reglerteknik; Control Engineering;

    Sammanfattning : The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. LÄS MER

  2. 2. The Core of Aerial Robotic Workers Generalized Modeling, Estimation, and Control

    Detta är en avhandling från Luleå : Luleå University of Technology

    Författare :Emil Fresk; Luleå tekniska universitet.; [2018]
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Aerial robotics; generalized modeling; generalized estimation; generalized control; Reglerteknik; Control Engineering;

    Sammanfattning : In this thesis we are going to explore what the operational core, both mathematically and algorithmically, of an Aerial Robotic Worker consists of, in order to estimate its egomotion and parameters, and adaptively control the aerial vehicle. Moreover, the aim of this thesis is to be a condensed reference for the corresponding areas of aerial robotics, in order to provide a stable and complete foundation on which one can continue research on. LÄS MER